diff --git a/include/eigenpy/eigen-allocator.hpp b/include/eigenpy/eigen-allocator.hpp
index 589159d011344df66a5a44c7ab4ee058bc13aa8d..a9d816251945c98a577de43279c0bf0390a14568 100644
--- a/include/eigenpy/eigen-allocator.hpp
+++ b/include/eigenpy/eigen-allocator.hpp
@@ -1,5 +1,5 @@
//
-// 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__