diff --git a/cmake b/cmake
index 000a90190d1dca8b028f437095f2fddff0f9839b..5cb34667bde62b5676e2b869dc6d13d598a4e2e3 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 000a90190d1dca8b028f437095f2fddff0f9839b
+Subproject commit 5cb34667bde62b5676e2b869dc6d13d598a4e2e3
diff --git a/include/eigenpy/angle-axis.hpp b/include/eigenpy/angle-axis.hpp
index ea78f4dff615ad9b0ab3fad268642d80630b2f73..d5ad5aa14c93ec81a9289d74ccb1c0530f9397fd 100644
--- a/include/eigenpy/angle-axis.hpp
+++ b/include/eigenpy/angle-axis.hpp
@@ -34,8 +34,6 @@ namespace eigenpy
}
};
- BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxAngleAxis_overload,call<Eigen::AngleAxisd>::isApprox,2,3)
-
template<typename AngleAxis>
class AngleAxisVisitor
: public bp::def_visitor< AngleAxisVisitor<AngleAxis> >
@@ -48,6 +46,8 @@ namespace eigenpy
typedef typename Eigen::Quaternion<Scalar,0> Quaternion;
typedef Eigen::RotationBase<AngleAxis,3> RotationBase;
+ BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxAngleAxis_overload,call<AngleAxis>::isApprox,2,3)
+
public:
template<class PyClass>
diff --git a/include/eigenpy/eigen-allocator.hpp b/include/eigenpy/eigen-allocator.hpp
index 343f76811e353a42a7cd6dcada9992007633f3dc..ca66b7be6c84c67d68624e8df8d8bacba7434148 100644
--- a/include/eigenpy/eigen-allocator.hpp
+++ b/include/eigenpy/eigen-allocator.hpp
@@ -19,50 +19,67 @@ namespace eigenpy
template<typename MatType, bool IsVectorAtCompileTime = MatType::IsVectorAtCompileTime>
struct init_matrix_or_array
{
+ static MatType * run(int rows, int cols, void * storage)
+ {
+ if(storage)
+ return new (storage) MatType(rows,cols);
+ else
+ return new MatType(rows,cols);
+ }
+
static MatType * run(PyArrayObject * pyArray, void * storage = NULL)
{
assert(PyArray_NDIM(pyArray) == 1 || PyArray_NDIM(pyArray) == 2);
int rows = -1, cols = -1;
- if(PyArray_NDIM(pyArray) == 2)
+ const int ndim = PyArray_NDIM(pyArray);
+ if(ndim == 2)
{
rows = (int)PyArray_DIMS(pyArray)[0];
cols = (int)PyArray_DIMS(pyArray)[1];
}
- else if(PyArray_NDIM(pyArray) == 1)
+ else if(ndim == 1)
{
rows = (int)PyArray_DIMS(pyArray)[0];
cols = 1;
}
- if(storage)
- return new (storage) MatType(rows,cols);
- else
- return new MatType(rows,cols);
+ return run(rows,cols,storage);
}
};
template<typename MatType>
struct init_matrix_or_array<MatType,true>
{
+ static MatType * run(int rows, int cols, void * storage)
+ {
+ if(storage)
+ return new (storage) MatType(rows,cols);
+ else
+ return new MatType(rows,cols);
+ }
+
+ static MatType * run(int size, void * storage)
+ {
+ if(storage)
+ return new (storage) MatType(size);
+ else
+ return new MatType(size);
+ }
+
static MatType * run(PyArrayObject * pyArray, void * storage = NULL)
{
- if(PyArray_NDIM(pyArray) == 1)
+ const int ndim = PyArray_NDIM(pyArray);
+ if(ndim == 1)
{
- const int rows_or_cols = (int)PyArray_DIMS(pyArray)[0];
- if(storage)
- return new (storage) MatType(rows_or_cols);
- else
- return new MatType(rows_or_cols);
+ const int size = (int)PyArray_DIMS(pyArray)[0];
+ return run(size,storage);
}
else
{
const int rows = (int)PyArray_DIMS(pyArray)[0];
const int cols = (int)PyArray_DIMS(pyArray)[1];
- if(storage)
- return new (storage) MatType(rows,cols);
- else
- return new MatType(rows,cols);
+ return run(rows,cols,storage);
}
}
};
diff --git a/include/eigenpy/eigen-from-python.hpp b/include/eigenpy/eigen-from-python.hpp
index 1a55bcbaba45bdba843a86a979c41bf5f046fb3c..ee879f6f1fb39d6f828bca5f191eb17681022921 100644
--- a/include/eigenpy/eigen-from-python.hpp
+++ b/include/eigenpy/eigen-from-python.hpp
@@ -275,13 +275,13 @@ namespace eigenpy
memory->convertible = storage->storage.bytes;
}
- template<typename MatType>
+ template<typename MatType, typename _Scalar>
struct EigenFromPy
{
typedef typename MatType::Scalar Scalar;
/// \brief Determine if pyObj can be converted into a MatType object
- static void* convertible(PyArrayObject* pyArray);
+ static void* convertible(PyObject* pyObj);
/// \brief Allocate memory and copy pyObj in the new storage
static void construct(PyObject* pyObj,
@@ -290,12 +290,14 @@ namespace eigenpy
static void registration();
};
- template<typename MatType>
- void* EigenFromPy<MatType>::convertible(PyArrayObject* pyArray)
+ template<typename MatType, typename _Scalar>
+ void* EigenFromPy<MatType,_Scalar>::convertible(PyObject* pyObj)
{
- if(!call_PyArray_Check(reinterpret_cast<PyObject*>(pyArray)))
+ if(!call_PyArray_Check(reinterpret_cast<PyObject*>(pyObj)))
return 0;
+ PyArrayObject * pyArray = reinterpret_cast<PyArrayObject*>(pyObj);
+
if(!np_type_is_convertible_into_scalar<Scalar>(EIGENPY_GET_PY_ARRAY_TYPE(pyArray)))
return 0;
@@ -403,15 +405,15 @@ namespace eigenpy
return pyArray;
}
- template<typename MatType>
- void EigenFromPy<MatType>::construct(PyObject* pyObj,
- bp::converter::rvalue_from_python_stage1_data* memory)
+ template<typename MatType, typename _Scalar>
+ void EigenFromPy<MatType,_Scalar>::construct(PyObject* pyObj,
+ bp::converter::rvalue_from_python_stage1_data* memory)
{
eigen_from_py_construct<MatType>(pyObj,memory);
}
- template<typename MatType>
- void EigenFromPy<MatType>::registration()
+ template<typename MatType, typename _Scalar>
+ void EigenFromPy<MatType,_Scalar>::registration()
{
bp::converter::registry::push_back
(reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
@@ -431,7 +433,7 @@ namespace eigenpy
// Add conversion to Eigen::EigenBase<MatType>
typedef Eigen::EigenBase<MatType> EigenBase;
- EigenFromPy<EigenBase>::registration();
+ EigenFromPy<EigenBase,typename MatType::Scalar>::registration();
// Add conversion to Eigen::PlainObjectBase<MatType>
typedef Eigen::PlainObjectBase<MatType> PlainObjectBase;
@@ -464,7 +466,7 @@ namespace eigenpy
};
template<typename MatType>
- struct EigenFromPy< Eigen::EigenBase<MatType> > : EigenFromPy<MatType>
+ struct EigenFromPy< Eigen::EigenBase<MatType>, typename MatType::Scalar > : EigenFromPy<MatType>
{
typedef EigenFromPy<MatType> EigenFromPyDerived;
typedef Eigen::EigenBase<MatType> Base;
@@ -500,13 +502,14 @@ namespace eigenpy
typedef typename MatType::Scalar Scalar;
/// \brief Determine if pyObj can be converted into a MatType object
- static void* convertible(PyArrayObject * pyArray)
+ static void* convertible(PyObject * pyObj)
{
- if(!call_PyArray_Check(reinterpret_cast<PyObject*>(pyArray)))
+ if(!call_PyArray_Check(pyObj))
return 0;
+ PyArrayObject * pyArray = reinterpret_cast<PyArrayObject*>(pyObj);
if(!PyArray_ISWRITEABLE(pyArray))
return 0;
- return EigenFromPy<MatType>::convertible(pyArray);
+ return EigenFromPy<MatType>::convertible(pyObj);
}
static void registration()
@@ -524,9 +527,9 @@ namespace eigenpy
typedef typename MatType::Scalar Scalar;
/// \brief Determine if pyObj can be converted into a MatType object
- static void* convertible(PyArrayObject * pyArray)
+ static void* convertible(PyObject * pyObj)
{
- return EigenFromPy<MatType>::convertible(pyArray);
+ return EigenFromPy<MatType>::convertible(pyObj);
}
static void registration()
diff --git a/include/eigenpy/eigen-to-python.hpp b/include/eigenpy/eigen-to-python.hpp
index bd89fec522f79a56932f8e0fd33732284f6bb6aa..8b1ac1d088637fcbc33f0143e7233591243b1089 100644
--- a/include/eigenpy/eigen-to-python.hpp
+++ b/include/eigenpy/eigen-to-python.hpp
@@ -50,7 +50,7 @@ namespace eigenpy
{
namespace bp = boost::python;
- template<typename MatType>
+ template<typename MatType, typename _Scalar>
struct EigenToPy
{
static PyObject* convert(typename boost::add_reference<typename boost::add_const<MatType>::type>::type mat)
@@ -82,8 +82,8 @@ namespace eigenpy
}
};
- template<typename MatType, int Options, typename Stride>
- struct EigenToPy< Eigen::Ref<MatType,Options,Stride> >
+ template<typename MatType, int Options, typename Stride, typename _Scalar>
+ struct EigenToPy< Eigen::Ref<MatType,Options,Stride>,_Scalar >
{
static PyObject* convert(const Eigen::Ref<MatType,Options,Stride> & mat)
{
diff --git a/include/eigenpy/fwd.hpp b/include/eigenpy/fwd.hpp
index 506a1d93a2b055b7914a59f8b2a784cef1ab8560..02ec33450b7c1c6f24e63fe3e96d8a2b6b8a88f2 100644
--- a/include/eigenpy/fwd.hpp
+++ b/include/eigenpy/fwd.hpp
@@ -28,8 +28,8 @@
namespace eigenpy
{
- template<typename MatType> struct EigenToPy;
- template<typename MatType> struct EigenFromPy;
+ template<typename MatType, typename Scalar = typename boost::remove_reference<MatType>::type::Scalar> struct EigenToPy;
+ template<typename MatType, typename Scalar = typename boost::remove_reference<MatType>::type::Scalar> struct EigenFromPy;
}
#endif // ifndef __eigenpy_fwd_hpp__
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 6d5f1ffc8c83bf32e4d248a7ac95937f3346dbdf..05d88a64cc237c18645f65c03258d05c15462fff 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -88,8 +88,6 @@ namespace eigenpy
}
};
- BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxQuaternion_overload,call<Eigen::Quaterniond>::isApprox,2,3)
-
template<typename Quaternion>
class QuaternionVisitor
: public bp::def_visitor< QuaternionVisitor<Quaternion> >
@@ -103,6 +101,8 @@ namespace eigenpy
typedef typename QuaternionBase::Matrix3 Matrix3;
typedef typename QuaternionBase::AngleAxisType AngleAxis;
+
+ BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxQuaternion_overload,call<Quaternion>::isApprox,2,3)
public:
diff --git a/include/eigenpy/user-type.hpp b/include/eigenpy/user-type.hpp
index 7181063e5dd21f7b2cdff398cda4de8518c813e8..20c12cabf02f5b1bf7d79686298105534a61e224 100644
--- a/include/eigenpy/user-type.hpp
+++ b/include/eigenpy/user-type.hpp
@@ -16,13 +16,13 @@ namespace eigenpy
template<typename T, int type_code = NumpyEquivalentType<T>::type_code>
struct SpecialMethods
{
- static void copyswap(void * /*dst*/, void * /*src*/, int /*swap*/, void * /*arr*/) {};
- static PyObject * getitem(void * /*ip*/, void * /*ap*/) { return NULL; };
- static int setitem(PyObject * /*op*/, void * /*ov*/, void * /*ap*/) { return -1; }
- static void copyswapn(void * /*dest*/, long /*dstride*/, void * /*src*/,
- long /*sstride*/, long /*n*/, int /*swap*/, void * /*arr*/) {};
- static npy_bool nonzero(void * /*ip*/, void * /*array*/) { return (npy_bool)false; };
- static void dotfunc(void * /*ip0_*/, npy_intp /*is0*/, void * /*ip1_*/, npy_intp /*is1*/,
+ inline static void copyswap(void * /*dst*/, void * /*src*/, int /*swap*/, void * /*arr*/) /*{}*/;
+ inline static PyObject * getitem(void * /*ip*/, void * /*ap*/) /*{ return NULL; }*/;
+ inline static int setitem(PyObject * /*op*/, void * /*ov*/, void * /*ap*/) /*{ return -1; }*/;
+ inline static void copyswapn(void * /*dest*/, long /*dstride*/, void * /*src*/,
+ long /*sstride*/, long /*n*/, int /*swap*/, void * /*arr*/) /*{}*/;
+ inline static npy_bool nonzero(void * /*ip*/, void * /*array*/) /*{ return (npy_bool)false; }*/;
+ inline static void dotfunc(void * /*ip0_*/, npy_intp /*is0*/, void * /*ip1_*/, npy_intp /*is1*/,
void * /*op*/, npy_intp /*n*/, void * /*arr*/);
// static void cast(void * /*from*/, void * /*to*/, npy_intp /*n*/, void * /*fromarr*/, void * /*toarr*/) {};
};
@@ -30,7 +30,7 @@ namespace eigenpy
template<typename T>
struct SpecialMethods<T,NPY_USERDEF>
{
- static void copyswap(void * dst, void * src, int swap, void * /*arr*/)
+ inline static void copyswap(void * dst, void * src, int swap, void * /*arr*/)
{
// std::cout << "copyswap" << std::endl;
if (src != NULL)
@@ -48,7 +48,7 @@ namespace eigenpy
}
}
- static PyObject * getitem(void * ip, void * ap)
+ inline static PyObject * getitem(void * ip, void * ap)
{
// std::cout << "getitem" << std::endl;
PyArrayObject * py_array = static_cast<PyArrayObject *>(ap);
@@ -68,7 +68,7 @@ namespace eigenpy
}
}
- static int setitem(PyObject * src_obj, void * dest_ptr, void * array)
+ inline static int setitem(PyObject * src_obj, void * dest_ptr, void * array)
{
// std::cout << "setitem" << std::endl;
if(array == NULL)
@@ -103,8 +103,8 @@ namespace eigenpy
return 0;
}
- static void copyswapn(void * dst, long dstride, void * src, long sstride,
- long n, int swap, void * array)
+ inline static void copyswapn(void * dst, long dstride, void * src, long sstride,
+ long n, int swap, void * array)
{
// std::cout << "copyswapn" << std::endl;
@@ -122,7 +122,7 @@ namespace eigenpy
}
}
- static npy_bool nonzero(void * ip, void * array)
+ inline static npy_bool nonzero(void * ip, void * array)
{
// std::cout << "nonzero" << std::endl;
static const T ZeroValue = T(0);
@@ -141,8 +141,8 @@ namespace eigenpy
}
}
- static void dotfunc(void * ip0_, npy_intp is0, void * ip1_, npy_intp is1,
- void * op, npy_intp n, void * /*arr*/)
+ inline static void dotfunc(void * ip0_, npy_intp is0, void * ip1_, npy_intp is1,
+ void * op, npy_intp n, void * /*arr*/)
{
T res = T(0);
char *ip0 = (char*)ip0_, *ip1 = (char*)ip1_;
diff --git a/package.xml b/package.xml
index 75bd76e0d8348e74a06c9a9bf90c59d5b63b6236..337205aaa6d6bfc66142d662c80f3db8f27414c2 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="3">
<name>eigenpy</name>
- <version>2.5.0</version>
+ <version>2.6.0</version>
<description>Bindings between Numpy and Eigen using Boost.Python</description>
<maintainer email="justin.carpentier@inria.fr">Justin Carpentier</maintainer>
<maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
diff --git a/unittest/user_type.cpp b/unittest/user_type.cpp
index b128648a3bb33174c9564b339f227e43300bb3ff..a6fdeee89031774403abbd52537aa1bf2ab80b30 100644
--- a/unittest/user_type.cpp
+++ b/unittest/user_type.cpp
@@ -89,7 +89,8 @@ void expose_custom_type(const std::string & name)
.def("__repr__",&Type::print)
;
- eigenpy::registerNewType<Type>();
+ int code = eigenpy::registerNewType<Type>();
+ std::cout << "code: " << code << std::endl;
eigenpy::registerCommonUfunc<Type>();
}