diff --git a/.gitignore b/.gitignore
index 21ca0c7eba141c37cae3811f70eacff3fad3ac06..b56fdea15bad3463d0e3d78fea90f6ae749a09bf 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,5 @@ build/
release/
_build/
_release/
-*~
\ No newline at end of file
+*~
+Xcode/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fbfbe15217d253aa1c5ef4e00d2289b5d24024e1..4264d84c4f6d7be737a3dd4ef4ce2a7dc16c5ce0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,17 @@
#
-# Copyright 2014 CNRS
+# Copyright (c) 2015 LAAS-CNRS
+#
+# This file is part of eigenpy.
+# eigenpy is free software: you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public License
+# as published by the Free Software Foundation, either version 3 of
+# the License, or (at your option) any later version.
+# eigenpy is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU Lesser General Public License for more details. You should
+# have received a copy of the GNU Lesser General Public License along
+# with eigenpy. If not, see <http://www.gnu.org/licenses/>.
#
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
@@ -23,6 +35,15 @@ IF(APPLE)
SET(CMAKE_MACOSX_RPATH TRUE)
ENDIF(APPLE)
+# ----------------------------------------------------
+# --- OPTIONS ---------------------------------------
+# ----------------------------------------------------
+OPTION (EIGEN_NUMPY_ALIGNED "Directly aligned data between Numpy and Eigen" OFF)
+
+IF(EIGEN_NUMPY_ALIGNED)
+ ADD_DEFINITIONS(-DEIGENPY_ALIGNED)
+ENDIF(EIGEN_NUMPY_ALIGNED)
+
# ----------------------------------------------------
# --- DEPENDANCIES -----------------------------------
# ----------------------------------------------------
@@ -102,6 +123,9 @@ ADD_LIBRARY(geometry SHARED unittest/geometry.cpp)
TARGET_LINK_LIBRARIES(geometry ${Boost_LIBRARIES} ${PROJECT_NAME})
SET_TARGET_PROPERTIES(geometry PROPERTIES PREFIX "")
+IF(EIGEN_NUMPY_ALIGNED)
+ PKG_CONFIG_APPEND_CFLAGS("-DEIGENPY_ALIGNED")
+ENDIF(EIGEN_NUMPY_ALIGNED)
PKG_CONFIG_APPEND_CFLAGS("-I${PYTHON_INCLUDE_DIRS}")
PKG_CONFIG_APPEND_CFLAGS("-I${NUMPY_INCLUDE_DIRS}")
PKG_CONFIG_APPEND_LIBS("boost_python")
diff --git a/src/details.cpp b/src/details.cpp
index d77c6c0c7287d6b0a8768726d7e6ddedeb239ffa..c77a0be89a4f903c1d53ec96b7446dacac78fe75 100644
--- a/src/details.cpp
+++ b/src/details.cpp
@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2015 LAAS-CNRS
+ *
+ * This file is part of eigenpy.
+ * eigenpy is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * eigenpy is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details. You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with eigenpy. If not, see <http://www.gnu.org/licenses/>.
+ */
+
#include "eigenpy/details.hpp"
namespace eigenpy
diff --git a/src/details.hpp b/src/details.hpp
index ce9ba1bc4cc0190f16809465cb4bdd8b7dd19ab7..8989f30370c2d361e081e12a668f4552319ce4dd 100644
--- a/src/details.hpp
+++ b/src/details.hpp
@@ -108,7 +108,7 @@ namespace eigenpy
{
static MatType & construct(void*storage,int /*r*/,int c)
{
- return * new(storage) MatType(c);
+ return * new(storage) MatType(R,c);
}
};
@@ -117,7 +117,7 @@ namespace eigenpy
{
static MatType & construct(void*storage,int r,int /*c*/)
{
- return * new(storage) MatType(r);
+ return * new(storage) MatType(r,C);
}
};
@@ -168,7 +168,6 @@ namespace eigenpy
static void construct(PyObject* pyObj,
bp::converter::rvalue_from_python_stage1_data* memory)
{
- typedef typename MatType::Scalar T;
using namespace Eigen;
PyArrayObject * pyArray = reinterpret_cast<PyArrayObject*>(pyObj);
@@ -191,20 +190,26 @@ namespace eigenpy
void enableEigenPySpecific()
{
import_array();
-
- #ifdef EIGEN_DONT_VECTORIZE
+
+#ifdef EIGEN_DONT_VECTORIZE
+
boost::python::to_python_converter<MatType,
- eigenpy::EigenToPy<MatType,MatType> >();
+ eigenpy::EigenToPy<MatType,MatType> >();
eigenpy::EigenFromPy<MatType,MatType>();
- #else
- typedef typename eigenpy::UnalignedEquivalent<MatType>::type MatTypeDontAlign;
+#else
boost::python::to_python_converter<MatType,
eigenpy::EigenToPy<MatType,MatType> >();
+ eigenpy::EigenFromPy<MatType,MatType>();
+
+ typedef typename eigenpy::UnalignedEquivalent<MatType>::type MatTypeDontAlign;
+#ifndef EIGENPY_ALIGNED
boost::python::to_python_converter<MatTypeDontAlign,
eigenpy::EigenToPy<MatTypeDontAlign,MatTypeDontAlign> >();
eigenpy::EigenFromPy<MatTypeDontAlign,MatTypeDontAlign>();
#endif
+#endif
+
}
diff --git a/src/eigenpy.cpp b/src/eigenpy.cpp
index 088c2b3fd299bf449a8b9c626e58cce5c2a82561..d0b685eb1490be7e423521f7a40dba068279f701 100644
--- a/src/eigenpy.cpp
+++ b/src/eigenpy.cpp
@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2015 LAAS-CNRS
+ *
+ * This file is part of eigenpy.
+ * eigenpy is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * eigenpy is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details. You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with eigenpy. If not, see <http://www.gnu.org/licenses/>.
+ */
+
#include "eigenpy/eigenpy.hpp"
namespace eigenpy
diff --git a/src/exception.cpp b/src/exception.cpp
index 3c20f3a38dc8631317ceaa46750b9261cd970e12..b8ac24cad2b7e9063becd5d7ae31255b3172124e 100644
--- a/src/exception.cpp
+++ b/src/exception.cpp
@@ -1,3 +1,19 @@
+/*
+ * Copyright (c) 2015 LAAS-CNRS
+ *
+ * This file is part of eigenpy.
+ * eigenpy is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * eigenpy is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details. You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with eigenpy. If not, see <http://www.gnu.org/licenses/>.
+ */
+
#include <eigenpy/exception.hpp>
diff --git a/src/fwd.hpp b/src/fwd.hpp
index b137f1df8236182a7873e7e346ecdab361277a6d..37aa6a2033dc705e6207e0086a0f138a41d6a91f 100644
--- a/src/fwd.hpp
+++ b/src/fwd.hpp
@@ -27,11 +27,15 @@ namespace eigenpy
{
typedef Eigen::MatrixBase<D> MatType;
typedef Eigen::Matrix<typename D::Scalar,
- D::RowsAtCompileTime,
- D::ColsAtCompileTime,
- D::Options | Eigen::DontAlign,
- D::MaxRowsAtCompileTime,
- D::MaxColsAtCompileTime> type;
+ D::RowsAtCompileTime,
+ D::ColsAtCompileTime,
+#ifndef EIGENPY_ALIGNED
+ D::Options | Eigen::DontAlign,
+#else
+ D::Options,
+#endif
+ D::MaxRowsAtCompileTime,
+ D::MaxColsAtCompileTime> type;
};
} // namespace eigenpy
diff --git a/src/quaternion.hpp b/src/quaternion.hpp
index 279bdeac1e9298204e11d49ff3539e257557b615..f93c30e41257c8000d23478918cb1a27a7fdacc6 100644
--- a/src/quaternion.hpp
+++ b/src/quaternion.hpp
@@ -39,7 +39,11 @@ namespace eigenpy
template<>
struct UnalignedEquivalent<Eigen::Quaterniond>
{
- typedef Eigen::Quaternion<double,Eigen::DontAlign> type;
+#ifndef EIGENPY_ALIGNED
+ typedef Eigen::Quaternion<Eigen::Quaterniond::Scalar,Eigen::DontAlign> type;
+#else
+ typedef Eigen::Quaterniond type;
+#endif
};
namespace bp = boost::python;
@@ -51,10 +55,15 @@ namespace eigenpy
typedef Eigen::QuaternionBase<Quaternion> QuaternionBase;
typedef typename eigenpy::UnalignedEquivalent<Quaternion>::type QuaternionUnaligned;
- typedef typename QuaternionUnaligned::Scalar Scalar;
- typedef Eigen::Matrix<Scalar,3,1,Eigen::DontAlign> Vector3;
+ typedef typename QuaternionBase::Scalar Scalar;
typedef typename QuaternionUnaligned::Coefficients Coefficients;
+#ifndef EIGENPY_ALIGNED
+ typedef Eigen::Matrix<Scalar,3,1,Eigen::DontAlign> Vector3;
typedef Eigen::Matrix<Scalar,3,3,Eigen::DontAlign> Matrix3;
+#else
+ typedef Eigen::Matrix<Scalar,3,1,0> Vector3;
+ typedef Eigen::Matrix<Scalar,3,3,0> Matrix3;
+#endif
typedef Eigen::AngleAxis<Scalar> AngleAxisUnaligned;
@@ -169,8 +178,10 @@ namespace eigenpy
bp::init<>())
.def(QuaternionVisitor<Quaternion>())
;
-
+
+#ifndef EIGENPY_ALIGNED
bp::to_python_converter< Quaternion,QuaternionVisitor<Quaternion> >();
+#endif
}
};
diff --git a/unittest/geometry.cpp b/unittest/geometry.cpp
index 0490eb5969144c75fc0ed35c053e05071ba40813..8782d1b4c2f6f2c2a6eb36fc1d330133721b06b6 100644
--- a/unittest/geometry.cpp
+++ b/unittest/geometry.cpp
@@ -1,3 +1,18 @@
+/*
+ * Copyright (c) 2015 LAAS-CNRS
+ *
+ * This file is part of eigenpy.
+ * eigenpy is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * eigenpy is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details. You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with eigenpy. If not, see <http://www.gnu.org/licenses/>.
+ */
#include "eigenpy/eigenpy.hpp"
#include "eigenpy/geometry.hpp"