diff --git a/cmake b/cmake
index 1a6db988dbc0c02679d0566d8f3f50dd0aebc569..9403226002b930d592ca83b50d3cd714a1c2dc01 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 1a6db988dbc0c02679d0566d8f3f50dd0aebc569
+Subproject commit 9403226002b930d592ca83b50d3cd714a1c2dc01
diff --git a/include/eigenpy/alignment.hpp b/include/eigenpy/alignment.hpp
index 2e0c9f51d91a82492a9e756a73f1db2bdcd816b8..b04a7d63a00fb90f43f192b0c1a86a13d1160814 100644
--- a/include/eigenpy/alignment.hpp
+++ b/include/eigenpy/alignment.hpp
@@ -20,6 +20,15 @@ struct aligned_storage {
};
};
+template <class Data>
+struct aligned_instance {
+ PyObject_VAR_HEAD PyObject *dict;
+ PyObject *weakrefs;
+ boost::python::instance_holder *objects;
+
+ typename aligned_storage<sizeof(Data)>::type storage;
+};
+
} // namespace eigenpy
namespace boost {
@@ -62,6 +71,19 @@ struct referent_storage<const Eigen::Quaternion<Scalar, Options> &> {
} // namespace python
} // namespace boost
+namespace boost {
+namespace python {
+namespace objects {
+
+// Force alignment of instance with value_holder
+template <typename Derived>
+struct instance<value_holder<Derived> >
+ : ::eigenpy::aligned_instance<value_holder<Derived> > {};
+
+} // namespace objects
+} // namespace python
+} // namespace boost
+
namespace eigenpy {
template <class T>
diff --git a/include/eigenpy/fwd.hpp b/include/eigenpy/fwd.hpp
index 0e2c54c736aafccc60f035cf125521276a7afab3..7db101c7a1545d7efccba8753dab0809d4216c47 100644
--- a/include/eigenpy/fwd.hpp
+++ b/include/eigenpy/fwd.hpp
@@ -5,6 +5,50 @@
#ifndef __eigenpy_fwd_hpp__
#define __eigenpy_fwd_hpp__
+#if defined(__clang__)
+#define EIGENPY_CLANG_COMPILER
+#elif defined(__GNUC__)
+#define EIGENPY_GCC_COMPILER
+#elif defined(_MSC_VER)
+#define EIGENPY_MSVC_COMPILER
+#endif
+
+#define EIGENPY_STRING_LITERAL(string) #string
+#define EIGENPY_STRINGIZE(string) EIGENPY_STRING_LITERAL(string)
+#define _EIGENPY_PPCAT(A, B) A##B
+#define EIGENPY_PPCAT(A, B) _EIGENPY_PPCAT(A, B)
+#define EIGENPY_STRINGCAT(A, B) A B
+
+// For more details, visit
+// https://stackoverflow.com/questions/171435/portability-of-warning-preprocessor-directive
+#if defined(EIGENPY_CLANG_COMPILER) || defined(EIGENPY_GCC_COMPILER)
+#define EIGENPY_PRAGMA(x) _Pragma(#x)
+#define EIGENPY_PRAGMA_MESSAGE(the_message) \
+ EIGENPY_PRAGMA(GCC message the_message)
+#define EIGENPY_PRAGMA_WARNING(the_message) \
+ EIGENPY_PRAGMA(GCC warning the_message)
+#define EIGENPY_PRAGMA_DEPRECATED(the_message) \
+ EIGENPY_PRAGMA_WARNING(Deprecated : the_message)
+#define EIGENPY_PRAGMA_DEPRECATED_HEADER(old_header, new_header) \
+ EIGENPY_PRAGMA_WARNING( \
+ Deprecated header file \
+ : #old_header has been replaced \
+ by #new_header.\n Please use #new_header instead of #old_header.)
+#elif defined(WIN32)
+#define EIGENPY_PRAGMA(x) __pragma(#x)
+#define EIGENPY_PRAGMA_MESSAGE(the_message) \
+ EIGENPY_PRAGMA(message(#the_message))
+#define EIGENPY_PRAGMA_WARNING(the_message) \
+ EIGENPY_PRAGMA(message(EIGENPY_STRINGCAT("WARNING: ", the_message)))
+#endif
+
+#define EIGENPY_DEPRECATED_MACRO(macro, the_message) \
+ EIGENPY_PRAGMA_WARNING( \
+ EIGENPY_STRINGCAT("this macro is deprecated: ", the_message))
+#define EIGENPY_DEPRECATED_FILE(the_message) \
+ EIGENPY_PRAGMA_WARNING( \
+ EIGENPY_STRINGCAT("this file is deprecated: ", the_message))
+
#include "eigenpy/config.hpp"
// Silence a warning about a deprecated use of boost bind by boost python
diff --git a/include/eigenpy/memory.hpp b/include/eigenpy/memory.hpp
index 5eaf0a2a7dc733e1f0cb13130e926579f276ae40..cbd8c482d291f79d6fdb9dd23bd92e2ca1fd4ffb 100644
--- a/include/eigenpy/memory.hpp
+++ b/include/eigenpy/memory.hpp
@@ -1,111 +1,23 @@
/*
* Copyright 2014-2019, CNRS
- * Copyright 2018-2022, INRIA
+ * Copyright 2018-2023, INRIA
*/
-#ifndef __eigenpy_memory_hpp__
-#define __eigenpy_memory_hpp__
-
#include "eigenpy/fwd.hpp"
-#if PY_VERSION_HEX < 0x030900A4 && !defined(Py_SET_SIZE)
-static inline void _Py_SET_SIZE(PyVarObject* ob, Py_ssize_t size) {
- ob->ob_size = size;
-}
-#define Py_SET_SIZE(ob, size) _Py_SET_SIZE((PyVarObject*)(ob), size)
-#endif
+EIGENPY_DEPRECATED_FILE(
+ "This header file is now useless and should not be included anymore.")
+
+#ifndef __eigenpy_memory_hpp__
+#define __eigenpy_memory_hpp__
/**
* This section contains a convenience MACRO which allows an easy specialization
* of Boost Python Object allocator for struct data types containing Eigen
* objects and requiring strict alignment.
- *
- * This code was proposed as an stackoverflow answer:
- * http://stackoverflow.com/questions/13177573/how-to-expose-aligned-class-with-boost-python/29694518
- * Leading to this page proposing the solution:
- * http://fhtagn.net/prog/2015/04/16/quaternion_boost_python.html
- *
*/
-#define EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(...) \
- namespace boost { \
- namespace python { \
- namespace objects { \
- template <> \
- struct instance<value_holder<__VA_ARGS__> > { \
- typedef value_holder<__VA_ARGS__> Data; \
- PyObject_VAR_HEAD PyObject* dict; \
- PyObject* weakrefs; \
- instance_holder* objects; \
- \
- typedef type_with_alignment< ::boost::alignment_of<Data>::value>::type \
- align_t; \
- \
- union { \
- align_t align; \
- char bytes[sizeof(Data) + EIGENPY_DEFAULT_ALIGN_BYTES]; \
- } storage; \
- }; \
- \
- template <class Derived> \
- struct make_instance_impl<__VA_ARGS__, value_holder<__VA_ARGS__>, Derived> { \
- typedef __VA_ARGS__ T; \
- typedef value_holder<__VA_ARGS__> Holder; \
- typedef objects::instance<Holder> instance_t; \
- \
- template <class Arg> \
- static inline PyObject* execute(Arg& x) { \
- BOOST_MPL_ASSERT((mpl::or_<is_class<T>, is_union<T> >)); \
- \
- PyTypeObject* type = Derived::get_class_object(x); \
- \
- if (type == 0) return python::detail::none(); \
- \
- PyObject* raw_result = type->tp_alloc( \
- type, objects::additional_instance_size<Holder>::value); \
- if (raw_result != 0) { \
- python::detail::decref_guard protect(raw_result); \
- instance_t* instance = (instance_t*)(void*)raw_result; \
- Holder* holder = \
- Derived::construct(&instance->storage, (PyObject*)instance, x); \
- holder->install(raw_result); \
- \
- Py_ssize_t holder_offset = \
- reinterpret_cast<Py_ssize_t>(holder) - \
- reinterpret_cast<Py_ssize_t>(&instance->storage) + \
- static_cast<Py_ssize_t>(offsetof(instance_t, storage)); \
- Py_SET_SIZE(instance, holder_offset); \
- \
- protect.cancel(); \
- } \
- return raw_result; \
- } \
- }; \
- \
- template <> \
- struct make_instance<__VA_ARGS__, value_holder<__VA_ARGS__> > \
- : make_instance_impl< \
- __VA_ARGS__, value_holder<__VA_ARGS__>, \
- make_instance<__VA_ARGS__, value_holder<__VA_ARGS__> > > { \
- template <class U> \
- static inline PyTypeObject* get_class_object(U&) { \
- return converter::registered<__VA_ARGS__>::converters \
- .get_class_object(); \
- } \
- \
- static inline value_holder<__VA_ARGS__>* construct( \
- void* storage, PyObject* instance, \
- reference_wrapper<__VA_ARGS__ const> x) { \
- void* aligned_storage = reinterpret_cast<void*>( \
- (reinterpret_cast<size_t>(storage) & \
- ~(size_t(EIGENPY_DEFAULT_ALIGN_BYTES - 1))) + \
- EIGENPY_DEFAULT_ALIGN_BYTES); \
- value_holder<__VA_ARGS__>* new_holder = \
- new (aligned_storage) value_holder<__VA_ARGS__>(instance, x); \
- return new_holder; \
- } \
- }; \
- } \
- } \
- }
+#define EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(...) \
+ EIGENPY_DEPRECATED_MACRO(EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(), \
+ "it is no more needed.")
#endif // __eigenpy_memory_hpp__
diff --git a/unittest/std_vector.cpp b/unittest/std_vector.cpp
index 12bb9e2cecf88b0a8b451d6685c03bc3f2e7a692..fa8a95e8a4d7d48c06c8b25cd6fd6076070af991 100644
--- a/unittest/std_vector.cpp
+++ b/unittest/std_vector.cpp
@@ -7,26 +7,24 @@
#include "eigenpy/eigen-from-python.hpp"
#include "eigenpy/std-vector.hpp"
-template <typename MatType,
- typename Allocator = Eigen::aligned_allocator<MatType> >
-void printVectorOfMatrix(const std::vector<MatType, Allocator> &Ms) {
+template <typename MatType>
+void printVectorOfMatrix(
+ const std::vector<MatType, Eigen::aligned_allocator<MatType> > &Ms) {
const std::size_t n = Ms.size();
for (std::size_t i = 0; i < n; i++) {
std::cout << "el[" << i << "] =\n" << Ms[i] << '\n';
}
}
-template <typename MatType,
- typename Allocator = Eigen::aligned_allocator<MatType> >
-std::vector<MatType, Allocator> copy(
- const std::vector<MatType, Allocator> &Ms) {
- std::vector<MatType, Allocator> out = Ms;
+template <typename MatType>
+std::vector<MatType, Eigen::aligned_allocator<MatType> > copy(
+ const std::vector<MatType, Eigen::aligned_allocator<MatType> > &Ms) {
+ std::vector<MatType, Eigen::aligned_allocator<MatType> > out = Ms;
return out;
}
-template <typename MatType,
- typename Allocator = Eigen::aligned_allocator<MatType> >
-void setZero(std::vector<MatType, Allocator> &Ms) {
+template <typename MatType>
+void setZero(std::vector<MatType, Eigen::aligned_allocator<MatType> > &Ms) {
for (std::size_t i = 0; i < Ms.size(); i++) {
Ms[i].setZero();
}