skrobot.planner.utils.scipinize¶
- skrobot.planner.utils.scipinize(fun)[source]¶
Scipinize a function returning both f and jac
For the detail this issue may help: https://github.com/scipy/scipy/issues/12692
- Parameters:
fun (function) – function maps numpy.ndarray(n_dim,) to tuple[numpy.ndarray(m_dim,), numpy.ndarray(m_dim, n_dim)], where the returned tuples is composed of function value(vector) and the corresponding jacobian.
- Returns:
fun_scipinized (function) – function maps numpy.ndarray(n_dim,) to a value numpy.ndarray(m_dim,).
fun_scipinized_jac (function) – function maps numpy.ndarray(n_dim,) to jacobian numpy.ndarray(m_dim, n_dim).