diff --git a/.github/workflows/ros_ci.yml b/.github/workflows/ros_ci.yml
index ff06681c302c473a015c58ae66c82db92a276a9d..6d7e13a7df488e98394b2b9c9c59105c7c2a3f52 100644
--- a/.github/workflows/ros_ci.yml
+++ b/.github/workflows/ros_ci.yml
@@ -12,10 +12,13 @@ jobs:
matrix:
env:
- {ROS_DISTRO: melodic}
- - {ROS_DISTRO: noetic}
+ - {ROS_DISTRO: noetic, BUILDER: catkin_tools}
+ - {ROS_DISTRO: foxy}
+ - {ROS_DISTRO: galactic}
+ - {ROS_DISTRO: foxy, PRERELEASE: true}
+ - {ROS_DISTRO: galactic, PRERELEASE: true}
env:
CCACHE_DIR: /github/home/.ccache # Enable ccache
- BUILDER: catkin_tools
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 765d2abf15d3488b895c288cf23d7ab69ad1e21d..95632c47321b8561ebfc6d78a209a1894d7454a1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -230,6 +230,9 @@ ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
# Install package for ROS
install(FILES package.xml DESTINATION share/eigenpy)
+# Allows Colcon to find non-Ament packages when using workspace underlays
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
# ----------------------------------------------------
# --- PYTHON LIBRARY ---------------------------------
diff --git a/cmake b/cmake
index b0aa0ff9377c953340aeb037297003df04d6185f..b0a77e2ead3f8dbb201b05e42048bb1cfc6a518e 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit b0aa0ff9377c953340aeb037297003df04d6185f
+Subproject commit b0a77e2ead3f8dbb201b05e42048bb1cfc6a518e
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 1f824eced7d5beafa4ff044ebb8e978fc3fedc7a..7e00edfa3bc5b6602d4710270ec0bd17d2a77cdf 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -275,7 +275,7 @@ namespace eigenpy
return new Quaternion;
}
- static Quaternion* FromOneVector(const Vector4& v)
+ static Quaternion* FromOneVector(const Eigen::Ref<Vector4> v)
{
Quaternion* q(new Quaternion(v[3],v[0],v[1],v[2]));
return q;
diff --git a/include/eigenpy/user-type.hpp b/include/eigenpy/user-type.hpp
index ed49ceb21fc10c72b29dd31ea015f6c1f1719fe1..cbe0c05d285ad0dd972f6c28b3fb4035582c3de9 100644
--- a/include/eigenpy/user-type.hpp
+++ b/include/eigenpy/user-type.hpp
@@ -1,5 +1,5 @@
//
-// Copyright (c) 2020-2021 INRIA
+// Copyright (c) 2020-2022 INRIA
//
#ifndef __eigenpy_user_type_hpp__
@@ -19,14 +19,18 @@ namespace eigenpy
{
static To run(const From & from)
{
- return (To)from;
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wconversion"
+#pragma GCC diagnostic ignored "-Wfloat-conversion"
+ return static_cast<To>(from);
+#pragma GCC diagnostic pop
}
-
+
};
namespace internal
{
-
+
template<typename From, typename To>
static void cast(void * from_, void * to_, npy_intp n, void * /*fromarr*/, void * /*toarr*/)
{
@@ -38,7 +42,7 @@ namespace eigenpy
to[i] = eigenpy::cast<From,To>::run(from[i]);
}
}
-
+
template<typename T, int type_code = NumpyEquivalentType<T>::type_code>
struct SpecialMethods
{
@@ -54,7 +58,7 @@ namespace eigenpy
inline static int fillwithscalar(void* buffer_, npy_intp length,
void* value, void* arr);
};
-
+
template<typename T>
struct OffsetOf
{
@@ -63,10 +67,10 @@ namespace eigenpy
char c;
T v;
};
-
+
enum { value = offsetof(Data, v) };
};
-
+
template<typename T>
struct SpecialMethods<T,NPY_USERDEF>
{
@@ -79,7 +83,7 @@ namespace eigenpy
T & t2 = *static_cast<T*>(src);
t1 = t2;
}
-
+
if(swap)
{
T & t1 = *static_cast<T*>(dst);
@@ -112,14 +116,14 @@ namespace eigenpy
/// pointed to by data. This function deals with “misbehaved†arrays.
/// If successful, a zero is returned, otherwise, a negative one is returned
/// (and a Python error set).
-
+
/// \param[in] src_obj Pointer to the location of the python object
/// \param[in] dest_ptr Pointer to the location in the array where the source object should be saved.
/// \param[in] array Pointer to the location of the array
///
/// \returns int Success(0) or Failure(-1)
///
-
+
inline static int setitem(PyObject * src_obj, void * dest_ptr, void * array)
{
// std::cout << "setitem" << std::endl;
@@ -132,7 +136,7 @@ namespace eigenpy
PyArray_Descr * descr = PyArray_DTYPE(py_array);
PyTypeObject * array_scalar_type = descr->typeobj;
PyTypeObject * src_obj_type = Py_TYPE(src_obj);
-
+
if(array_scalar_type != src_obj_type)
{
std::stringstream ss;
@@ -141,7 +145,7 @@ namespace eigenpy
eigenpy::Exception(ss.str());
return -1;
}
-
+
bp::extract<T&> extract_src_obj(src_obj);
if(!extract_src_obj.check())
{
@@ -151,25 +155,25 @@ namespace eigenpy
eigenpy::Exception(ss.str());
return -1;
}
-
+
const T & src = extract_src_obj();
T & dest = *static_cast<T*>(dest_ptr);
dest = src;
return 0;
}
-
+
inline static void copyswapn(void * dst, long dstride, void * src, long sstride,
long n, int swap, void * array)
{
// std::cout << "copyswapn" << std::endl;
-
+
char *dstptr = static_cast<char*>(dst);
char *srcptr = static_cast<char*>(src);
-
+
PyArrayObject * py_array = static_cast<PyArrayObject *>(array);
PyArray_CopySwapFunc * copyswap = PyArray_DESCR(py_array)->f->copyswap;
-
+
for (npy_intp i = 0; i < n; i++)
{
copyswap(dstptr, srcptr, swap, array);
@@ -177,7 +181,7 @@ namespace eigenpy
srcptr += sstride;
}
}
-
+
inline static npy_bool nonzero(void * ip, void * array)
{
// std::cout << "nonzero" << std::endl;
@@ -196,7 +200,7 @@ namespace eigenpy
return (npy_bool)(tmp_value != ZeroValue);
}
}
-
+
inline static void dotfunc(void * ip0_, npy_intp is0, void * ip1_, npy_intp is1,
void * op, npy_intp n, void * /*arr*/)
{
@@ -206,13 +210,13 @@ namespace eigenpy
typedef const Eigen::Map<const VectorT,0,InputStride> ConstMapType;
ConstMapType
- v0(static_cast<T*>(ip0_),n,InputStride(is0/sizeof(T))),
- v1(static_cast<T*>(ip1_),n,InputStride(is1/sizeof(T)));
-
+ v0(static_cast<T*>(ip0_),n,InputStride(is0/(Eigen::DenseIndex)sizeof(T))),
+ v1(static_cast<T*>(ip1_),n,InputStride(is1/(Eigen::DenseIndex)sizeof(T)));
+
*static_cast<T*>(op) = v0.dot(v1);
}
-
-
+
+
inline static int fillwithscalar(void* buffer_, npy_intp length,
void* value, void* /*arr*/)
{
@@ -225,8 +229,8 @@ namespace eigenpy
}
return 0;
}
-
-
+
+
static int fill(void* data_, npy_intp length, void* /*arr*/)
{
// std::cout << "fillwithscalar" << std::endl;
@@ -240,10 +244,10 @@ namespace eigenpy
}
return 0;
}
-
+
}; // struct SpecialMethods<T,NPY_USERDEF>
-
+
} // namespace internal
@@ -252,17 +256,17 @@ namespace eigenpy
{
PyArray_Descr* from_array_descr = Register::getPyArrayDescr<From>();
// int from_typenum = Register::getTypeCode<From>();
-
+
// PyTypeObject * to_py_type = Register::getPyType<To>();
int to_typenum = Register::getTypeCode<To>();
assert(to_typenum >= 0 && "to_typenum is not valid");
assert(from_array_descr != NULL && "from_array_descr is not valid");
-
+
std::cout << "From: " << bp::type_info(typeid(From)).name() << " " << Register::getTypeCode<From>()
<< " to: " << bp::type_info(typeid(To)).name() << " " << Register::getTypeCode<To>()
<< "\n to_typenum: " << to_typenum
<< std::endl;
-
+
if(call_PyArray_RegisterCastFunc(from_array_descr,
to_typenum,
static_cast<PyArray_VectorUnaryFunc *>(&eigenpy::internal::cast<From,To>)) < 0)
@@ -277,7 +281,7 @@ namespace eigenpy
eigenpy::Exception(ss.str());
return false;
}
-
+
if (safe && call_PyArray_RegisterCanCast(from_array_descr,
to_typenum,
NPY_NOSCALAR) < 0)
@@ -292,7 +296,7 @@ namespace eigenpy
eigenpy::Exception(ss.str());
return false;
}
-
+
return true;
}
@@ -307,17 +311,17 @@ namespace eigenpy
bp::type_info type = bp::type_id<T>();
const bp::converter::registration* registration =
bp::converter::registry::query(type);
-
+
// If the class is not registered, return None.
if (!registration) {
//std::cerr<<"Class Not Registered. Returning Empty."<<std::endl;
return bp::object();
}
-
+
bp::handle<PyTypeObject> handle(bp::borrowed(registration->get_class_object()));
return bp::object(handle);
}
-
+
template<typename Scalar>
int registerNewType(PyTypeObject * py_type_ptr = NULL)
{
@@ -325,16 +329,16 @@ namespace eigenpy
// In this case, the registration is not required.
if(isNumpyNativeType<Scalar>())
return NumpyEquivalentType<Scalar>::type_code;
-
+
// Retrieve the registered type for the current Scalar
if(py_type_ptr == NULL)
{ // retrive the type from Boost.Python
py_type_ptr = Register::getPyType<Scalar>();
}
-
+
if(Register::isRegistered(py_type_ptr))
return Register::getTypeCode(py_type_ptr); // the type is already registered
-
+
PyArray_GetItemFunc * getitem = &internal::SpecialMethods<Scalar>::getitem;
PyArray_SetItemFunc * setitem = &internal::SpecialMethods<Scalar>::setitem;
PyArray_NonzeroFunc * nonzero = &internal::SpecialMethods<Scalar>::nonzero;
@@ -343,7 +347,7 @@ namespace eigenpy
PyArray_DotFunc * dotfunc = &internal::SpecialMethods<Scalar>::dotfunc;
PyArray_FillFunc * fill = &internal::SpecialMethods<Scalar>::fill;
PyArray_FillWithScalarFunc * fillwithscalar = &internal::SpecialMethods<Scalar>::fillwithscalar;
-
+
int code = Register::registerNewType(py_type_ptr,
&typeid(Scalar),
sizeof(Scalar),
@@ -353,13 +357,13 @@ namespace eigenpy
dotfunc,
fill,
fillwithscalar);
-
+
call_PyArray_RegisterCanCast(call_PyArray_DescrFromType(NPY_OBJECT),
code, NPY_NOSCALAR);
-
+
return code;
}
-
+
} // namespace eigenpy
#endif // __eigenpy_user_type_hpp__
diff --git a/package.xml b/package.xml
index 8454baff87311951e4f7809b31de02037091646a..13171594d921949b16ce2db2cb2362484113df6a 100644
--- a/package.xml
+++ b/package.xml
@@ -13,9 +13,10 @@
<build_depend>git</build_depend>
<build_depend>doxygen</build_depend>
- <!-- The following tags are recommended by REP-136 -->
+
+ <!-- The following tag is recommended by REP-136 -->
<exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
- <exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>
+
<depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
<depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
<depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>