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Commit dd5e3688 authored by Justin Carpentier's avatar Justin Carpentier
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core: simplify code by removing redundant portions

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include/eigenpy/eigen-allocator.hpp
+ 24
− 95
View file @ dd5e3688
//
// Copyright (c) 2014-2020 CNRS INRIA
// Copyright (c) 2014-2023 CNRS INRIA
//
#ifndef __eigenpy_eigen_allocator_hpp__
......@@ -115,8 +115,11 @@ struct cast_matrix_or_array<Scalar, NewScalar, false> {
mat, NumpyMap<MatType, NewScalar>::map( \
pyArray, details::check_swap(pyArray, mat)))
template <typename EigenType>
struct EigenAllocator;
template <typename MatType>
struct EigenAllocator {
struct eigen_allocator_impl {
typedef MatType Type;
typedef typename MatType::Scalar Scalar;
......@@ -130,8 +133,17 @@ struct EigenAllocator {
Type *mat_ptr = details::init_matrix_or_array<Type>::run(pyArray, raw_ptr);
Type &mat = *mat_ptr;
copy(pyArray, mat);
}
/// \brief Copy Python array into the input matrix mat.
template <typename MatrixDerived>
static void copy(PyArrayObject *pyArray,
const Eigen::MatrixBase<MatrixDerived> &mat_) {
MatrixDerived &mat = mat_.const_cast_derived();
const int pyArray_type_code = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
const int Scalar_type_code = Register::getTypeCode<Scalar>();
if (pyArray_type_code == Scalar_type_code) {
mat = NumpyMap<MatType, Scalar>::map(
pyArray, details::check_swap(pyArray, mat)); // avoid useless cast
......@@ -185,13 +197,10 @@ struct EigenAllocator {
const int pyArray_type_code = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
const int Scalar_type_code = Register::getTypeCode<Scalar>();
typedef typename NumpyMap<MatType, Scalar>::EigenMap MapType;
if (pyArray_type_code == Scalar_type_code) // no cast needed
{
MapType map_pyArray = NumpyMap<MatType, Scalar>::map(
pyArray, details::check_swap(pyArray, mat));
map_pyArray = mat;
NumpyMap<MatType, Scalar>::map(pyArray,
details::check_swap(pyArray, mat)) = mat;
return;
}
......@@ -253,7 +262,7 @@ inline bool is_arr_layout_compatible_with_mat_type(PyArrayObject *pyArray) {
}
template <typename MatType, int Options, typename Stride>
struct EigenAllocator<Eigen::Ref<MatType, Options, Stride> > {
struct eigen_allocator_impl<Eigen::Ref<MatType, Options, Stride> > {
typedef Eigen::Ref<MatType, Options, Stride> RefType;
typedef typename MatType::Scalar Scalar;
......@@ -296,49 +305,7 @@ struct EigenAllocator<Eigen::Ref<MatType, Options, Stride> > {
new (raw_ptr) StorageType(mat_ref, pyArray, mat_ptr);
RefType &mat = *reinterpret_cast<RefType *>(raw_ptr);
if (pyArray_type_code == Scalar_type_code) {
mat = NumpyMap<MatType, Scalar>::map(
pyArray, details::check_swap(pyArray, mat)); // avoid useless cast
return;
}
switch (pyArray_type_code) {
case NPY_INT:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, int, Scalar,
pyArray, mat);
break;
case NPY_LONG:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, long, Scalar,
pyArray, mat);
break;
case NPY_FLOAT:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, float, Scalar,
pyArray, mat);
break;
case NPY_CFLOAT:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(
MatType, std::complex<float>, Scalar, pyArray, mat);
break;
case NPY_DOUBLE:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, double, Scalar,
pyArray, mat);
break;
case NPY_CDOUBLE:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(
MatType, std::complex<double>, Scalar, pyArray, mat);
break;
case NPY_LONGDOUBLE:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, long double,
Scalar, pyArray, mat);
break;
case NPY_CLONGDOUBLE:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(
MatType, std::complex<long double>, Scalar, pyArray, mat);
break;
default:
throw Exception(
"You asked for a conversion which is not implemented.");
}
EigenAllocator<MatType>::copy(pyArray, mat);
} else {
assert(pyArray_type_code == Scalar_type_code);
typename NumpyMap<MatType, Scalar, Options, NumpyMapStride>::EigenMap
......@@ -355,7 +322,7 @@ struct EigenAllocator<Eigen::Ref<MatType, Options, Stride> > {
};
template <typename MatType, int Options, typename Stride>
struct EigenAllocator<const Eigen::Ref<const MatType, Options, Stride> > {
struct eigen_allocator_impl<const Eigen::Ref<const MatType, Options, Stride> > {
typedef const Eigen::Ref<const MatType, Options, Stride> RefType;
typedef typename MatType::Scalar Scalar;
......@@ -399,49 +366,7 @@ struct EigenAllocator<const Eigen::Ref<const MatType, Options, Stride> > {
new (raw_ptr) StorageType(mat_ref, pyArray, mat_ptr);
MatType &mat = *mat_ptr;
if (pyArray_type_code == Scalar_type_code) {
mat = NumpyMap<MatType, Scalar>::map(
pyArray, details::check_swap(pyArray, mat)); // avoid useless cast
return;
}
switch (pyArray_type_code) {
case NPY_INT:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, int, Scalar,
pyArray, mat);
break;
case NPY_LONG:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, long, Scalar,
pyArray, mat);
break;
case NPY_FLOAT:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, float, Scalar,
pyArray, mat);
break;
case NPY_CFLOAT:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(
MatType, std::complex<float>, Scalar, pyArray, mat);
break;
case NPY_DOUBLE:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, double, Scalar,
pyArray, mat);
break;
case NPY_CDOUBLE:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(
MatType, std::complex<double>, Scalar, pyArray, mat);
break;
case NPY_LONGDOUBLE:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType, long double,
Scalar, pyArray, mat);
break;
case NPY_CLONGDOUBLE:
EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(
MatType, std::complex<long double>, Scalar, pyArray, mat);
break;
default:
throw Exception(
"You asked for a conversion which is not implemented.");
}
EigenAllocator<MatType>::copy(pyArray, mat);
} else {
assert(pyArray_type_code == Scalar_type_code);
typename NumpyMap<MatType, Scalar, Options, NumpyMapStride>::EigenMap
......@@ -457,6 +382,10 @@ struct EigenAllocator<const Eigen::Ref<const MatType, Options, Stride> > {
}
};
#endif
template <typename EigenType>
struct EigenAllocator : eigen_allocator_impl<EigenType> {};
} // namespace eigenpy
#endif // __eigenpy_eigen_allocator_hpp__
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