From 201f6b4bd9ca3f82f6412fde94de95eb5dd9202e Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Sun, 27 Dec 2015 12:02:59 +0100
Subject: [PATCH] [C++][Cmake] Add option to make eigen and numpy objects
aligned
---
CMakeLists.txt | 12 ++++++++++++
src/details.hpp | 16 +++++++++++-----
src/fwd.hpp | 14 +++++++++-----
src/quaternion.hpp | 19 +++++++++++++++----
4 files changed, 47 insertions(+), 14 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fbfbe15..2b9d0b4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,6 +23,15 @@ IF(APPLE)
SET(CMAKE_MACOSX_RPATH TRUE)
ENDIF(APPLE)
+# ----------------------------------------------------
+# --- OPTIONS ---------------------------------------
+# ----------------------------------------------------
+OPTION (EIGEN_NUMPY_ALIGNED "Directly aligned data between Numpy and Eigen" OFF)
+
+IF(EIGEN_NUMPY_ALIGNED)
+ ADD_DEFINITIONS(-DEIGENPY_ALIGNED)
+ENDIF(EIGEN_NUMPY_ALIGNED)
+
# ----------------------------------------------------
# --- DEPENDANCIES -----------------------------------
# ----------------------------------------------------
@@ -102,6 +111,9 @@ ADD_LIBRARY(geometry SHARED unittest/geometry.cpp)
TARGET_LINK_LIBRARIES(geometry ${Boost_LIBRARIES} ${PROJECT_NAME})
SET_TARGET_PROPERTIES(geometry PROPERTIES PREFIX "")
+IF(EIGEN_NUMPY_ALIGNED)
+ PKG_CONFIG_APPEND_CFLAGS("-DEIGENPY_ALIGNED")
+ENDIF(EIGEN_NUMPY_ALIGNED)
PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
PKG_CONFIG_APPEND_CFLAGS("-I${NUMPY_INCLUDE_DIRS}")
PKG_CONFIG_APPEND_LIBS("boost_python")
diff --git a/src/details.hpp b/src/details.hpp
index 0cef1a3..8989f30 100644
--- a/src/details.hpp
+++ b/src/details.hpp
@@ -190,20 +190,26 @@ namespace eigenpy
void enableEigenPySpecific()
{
import_array();
-
- #ifdef EIGEN_DONT_VECTORIZE
+
+#ifdef EIGEN_DONT_VECTORIZE
+
boost::python::to_python_converter<MatType,
- eigenpy::EigenToPy<MatType,MatType> >();
+ eigenpy::EigenToPy<MatType,MatType> >();
eigenpy::EigenFromPy<MatType,MatType>();
- #else
- typedef typename eigenpy::UnalignedEquivalent<MatType>::type MatTypeDontAlign;
+#else
boost::python::to_python_converter<MatType,
eigenpy::EigenToPy<MatType,MatType> >();
+ eigenpy::EigenFromPy<MatType,MatType>();
+
+ typedef typename eigenpy::UnalignedEquivalent<MatType>::type MatTypeDontAlign;
+#ifndef EIGENPY_ALIGNED
boost::python::to_python_converter<MatTypeDontAlign,
eigenpy::EigenToPy<MatTypeDontAlign,MatTypeDontAlign> >();
eigenpy::EigenFromPy<MatTypeDontAlign,MatTypeDontAlign>();
#endif
+#endif
+
}
diff --git a/src/fwd.hpp b/src/fwd.hpp
index b137f1d..37aa6a2 100644
--- a/src/fwd.hpp
+++ b/src/fwd.hpp
@@ -27,11 +27,15 @@ namespace eigenpy
{
typedef Eigen::MatrixBase<D> MatType;
typedef Eigen::Matrix<typename D::Scalar,
- D::RowsAtCompileTime,
- D::ColsAtCompileTime,
- D::Options | Eigen::DontAlign,
- D::MaxRowsAtCompileTime,
- D::MaxColsAtCompileTime> type;
+ D::RowsAtCompileTime,
+ D::ColsAtCompileTime,
+#ifndef EIGENPY_ALIGNED
+ D::Options | Eigen::DontAlign,
+#else
+ D::Options,
+#endif
+ D::MaxRowsAtCompileTime,
+ D::MaxColsAtCompileTime> type;
};
} // namespace eigenpy
diff --git a/src/quaternion.hpp b/src/quaternion.hpp
index 279bdea..f93c30e 100644
--- a/src/quaternion.hpp
+++ b/src/quaternion.hpp
@@ -39,7 +39,11 @@ namespace eigenpy
template<>
struct UnalignedEquivalent<Eigen::Quaterniond>
{
- typedef Eigen::Quaternion<double,Eigen::DontAlign> type;
+#ifndef EIGENPY_ALIGNED
+ typedef Eigen::Quaternion<Eigen::Quaterniond::Scalar,Eigen::DontAlign> type;
+#else
+ typedef Eigen::Quaterniond type;
+#endif
};
namespace bp = boost::python;
@@ -51,10 +55,15 @@ namespace eigenpy
typedef Eigen::QuaternionBase<Quaternion> QuaternionBase;
typedef typename eigenpy::UnalignedEquivalent<Quaternion>::type QuaternionUnaligned;
- typedef typename QuaternionUnaligned::Scalar Scalar;
- typedef Eigen::Matrix<Scalar,3,1,Eigen::DontAlign> Vector3;
+ typedef typename QuaternionBase::Scalar Scalar;
typedef typename QuaternionUnaligned::Coefficients Coefficients;
+#ifndef EIGENPY_ALIGNED
+ typedef Eigen::Matrix<Scalar,3,1,Eigen::DontAlign> Vector3;
typedef Eigen::Matrix<Scalar,3,3,Eigen::DontAlign> Matrix3;
+#else
+ typedef Eigen::Matrix<Scalar,3,1,0> Vector3;
+ typedef Eigen::Matrix<Scalar,3,3,0> Matrix3;
+#endif
typedef Eigen::AngleAxis<Scalar> AngleAxisUnaligned;
@@ -169,8 +178,10 @@ namespace eigenpy
bp::init<>())
.def(QuaternionVisitor<Quaternion>())
;
-
+
+#ifndef EIGENPY_ALIGNED
bp::to_python_converter< Quaternion,QuaternionVisitor<Quaternion> >();
+#endif
}
};
--
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