Verified Commit 0334425f authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: add the possibility to share or not the memory between Numpy and Eigen

parent 374746d3
......@@ -40,6 +40,8 @@ namespace eigenpy
typedef typename SimilarMatrixType::Scalar Scalar;
enum { NPY_ARRAY_MEMORY_CONTIGUOUS = SimilarMatrixType::IsRowMajor ? NPY_ARRAY_CARRAY : NPY_ARRAY_FARRAY };
if(NumpyType::sharedMemory())
{
PyArrayObject * pyArray = (PyArrayObject*) call_PyArray_New(nd, shape,
NumpyEquivalentType<Scalar>::type_code,
mat.data(),
......@@ -47,6 +49,11 @@ namespace eigenpy
return pyArray;
}
else
{
return NumpyAllocator<MatType>::allocate(mat.derived(),nd,shape);
}
}
};
#if EIGEN_VERSION_AT_LEAST(3,2,0)
......@@ -68,6 +75,8 @@ namespace eigenpy
typedef typename SimilarMatrixType::Scalar Scalar;
enum { NPY_ARRAY_MEMORY_CONTIGUOUS_RO = SimilarMatrixType::IsRowMajor ? NPY_ARRAY_CARRAY_RO : NPY_ARRAY_FARRAY_RO };
if(NumpyType::sharedMemory())
{
PyArrayObject * pyArray = (PyArrayObject*) call_PyArray_New(nd, shape,
NumpyEquivalentType<Scalar>::type_code,
const_cast<SimilarMatrixType &>(mat.derived()).data(),
......@@ -75,6 +84,11 @@ namespace eigenpy
return pyArray;
}
else
{
return NumpyAllocator<MatType>::allocate(mat.derived(),nd,shape);
}
}
};
#if EIGEN_VERSION_AT_LEAST(3,2,0)
......
......@@ -96,6 +96,16 @@ namespace eigenpy
switchToNumpyArray();
}
static void sharedMemory(const bool value)
{
getInstance().shared_memory = value;
}
static bool sharedMemory()
{
return getInstance().shared_memory;
}
static void switchToNumpyArray()
{
getInstance().CurrentNumpyType = getInstance().NumpyArrayObject;
......@@ -162,6 +172,8 @@ namespace eigenpy
CurrentNumpyType = NumpyArrayObject; // default conversion
np_type = ARRAY_TYPE;
shared_memory = true;
}
bp::object CurrentNumpyType;
......@@ -173,6 +185,8 @@ namespace eigenpy
bp::object NumpyArrayObject; PyTypeObject * NumpyArrayType;
NP_TYPE np_type;
bool shared_memory;
};
}
......
......@@ -45,6 +45,17 @@ namespace eigenpy
bp::def("switchToNumpyMatrix",&NumpyType::switchToNumpyMatrix,
"Set the conversion from Eigen::Matrix to numpy.matrix.");
bp::def("sharedMemory",
(void (*)(const bool))NumpyType::sharedMemory,
bp::arg("value"),
"Share the memory when converting Eigen::Matrix to numpy.array.");
bp::def("sharedMemory",
(bool (*)())NumpyType::sharedMemory,
"Status of the shared memory when converting Eigen::Matrix to numpy.array.\n"
"If True, the memory is shared when converting an Eigen::Matrix to a numpy.array.\n"
"Otherwise, a deep copy of the Eigen::Matrix is performed");
bp::def("seed",&seed,bp::arg("seed_value"),
"Initialize the pseudo-random number generator with the argument seed_value.");
......
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