Merge pull request #158 from jcarpent/devel

Template specialization for sized Eigen::{MatrixBase,EigenBase}

include/eigenpy/details.hpp

@@ -20,6 +20,38 @@
 
 #define GET_PY_ARRAY_TYPE(array) PyArray_ObjectType(reinterpret_cast<PyObject *>(array), 0)
 
+namespace boost { namespace python { namespace detail {
+
+  template<class MatType>
+  struct referent_size<Eigen::MatrixBase<MatType>&>
+  {
+      BOOST_STATIC_CONSTANT(
+          std::size_t, value = sizeof(MatType));
+  };
+
+  template<class MatType>
+  struct referent_size<Eigen::MatrixBase<MatType> >
+  {
+      BOOST_STATIC_CONSTANT(
+          std::size_t, value = sizeof(MatType));
+  };
+
+  template<class MatType>
+  struct referent_size<Eigen::EigenBase<MatType>&>
+  {
+      BOOST_STATIC_CONSTANT(
+          std::size_t, value = sizeof(MatType));
+  };
+
+  template<class MatType>
+  struct referent_size<Eigen::EigenBase<MatType> >
+  {
+      BOOST_STATIC_CONSTANT(
+          std::size_t, value = sizeof(MatType));
+  };
+
+}}}
+
 namespace eigenpy
 {
   template <typename SCALAR>  struct NumpyEquivalentType {};

include/eigenpy/details/rvalue_from_python_data.hpp

+/*
+ * Copyright 2018-2020, INRIA
+ */
+
 #ifndef __eigenpy_details_rvalue_from_python_data_hpp__
 #define __eigenpy_details_rvalue_from_python_data_hpp__
 
@@ -10,14 +14,51 @@ namespace boost
   {
     namespace converter
     {
-  
+
       /// \brief Template specialization of rvalue_from_python_data
       template<typename Derived>
       struct rvalue_from_python_data<Eigen::MatrixBase<Derived> const & >
-      : rvalue_from_python_storage<Eigen::MatrixBase<Derived> const & >
+      : rvalue_from_python_storage<Derived const & >
+      {
+        typedef Eigen::MatrixBase<Derived> const & T;
+
+# if (!defined(__MWERKS__) || __MWERKS__ >= 0x3000) \
+&& (!defined(__EDG_VERSION__) || __EDG_VERSION__ >= 245) \
+&& (!defined(__DECCXX_VER) || __DECCXX_VER > 60590014) \
+&& !defined(BOOST_PYTHON_SYNOPSIS) /* Synopsis' OpenCXX has trouble parsing this */
+        // This must always be a POD struct with m_data its first member.
+        BOOST_STATIC_ASSERT(BOOST_PYTHON_OFFSETOF(rvalue_from_python_storage<T>,stage1) == 0);
+# endif
+
+        // The usual constructor
+        rvalue_from_python_data(rvalue_from_python_stage1_data const & _stage1)
+        {
+          this->stage1 = _stage1;
+        }
+
+        // This constructor just sets m_convertible -- used by
+        // implicitly_convertible<> to perform the final step of the
+        // conversion, where the construct() function is already known.
+        rvalue_from_python_data(void* convertible)
+        {
+          this->stage1.convertible = convertible;
+        }
+
+        // Destroys any object constructed in the storage.
+        ~rvalue_from_python_data()
+        {
+          if (this->stage1.convertible == this->storage.bytes)
+            static_cast<Derived *>((void *)this->storage.bytes)->~Derived();
+        }
+      };
+
+      /// \brief Template specialization of rvalue_from_python_data
+      template<typename Derived>
+      struct rvalue_from_python_data<Eigen::EigenBase<Derived> const & >
+      : rvalue_from_python_storage<Derived const & >
       {
         typedef Eigen::MatrixBase<Derived> const & T;
-        
+
 # if (!defined(__MWERKS__) || __MWERKS__ >= 0x3000) \
 && (!defined(__EDG_VERSION__) || __EDG_VERSION__ >= 245) \
 && (!defined(__DECCXX_VER) || __DECCXX_VER > 60590014) \
@@ -25,13 +66,13 @@ namespace boost
         // This must always be a POD struct with m_data its first member.
         BOOST_STATIC_ASSERT(BOOST_PYTHON_OFFSETOF(rvalue_from_python_storage<T>,stage1) == 0);
 # endif
-        
+
         // The usual constructor
         rvalue_from_python_data(rvalue_from_python_stage1_data const & _stage1)
         {
           this->stage1 = _stage1;
         }
-        
+
         // This constructor just sets m_convertible -- used by
         // implicitly_convertible<> to perform the final step of the
         // conversion, where the construct() function is already known.
@@ -39,7 +80,7 @@ namespace boost
         {
           this->stage1.convertible = convertible;
         }
-        
+
         // Destroys any object constructed in the storage.
         ~rvalue_from_python_data()
         {
@@ -47,7 +88,7 @@ namespace boost
             static_cast<Derived *>((void *)this->storage.bytes)->~Derived();
         }
       };
-      
+
     }
   }
 } // namespace boost::python::converter

include/eigenpy/utils/is-approx.hpp

 /*
-* Copyright 2020 INRIA
-*/
+ * Copyright 2020 INRIA
+ */
 
 #ifndef __eigenpy_utils_scalar_is_approx_hpp__
 #define __eigenpy_utils_scalar_is_approx_hpp__
@@ -10,15 +10,16 @@
 namespace eigenpy
 {
   template<typename MatrixType1, typename MatrixType2>
-  inline EIGEN_DONT_INLINE bool is_approx(const MatrixType1 & mat1,
-                                          const MatrixType2 & mat2,
+  inline EIGEN_DONT_INLINE bool is_approx(const Eigen::MatrixBase<MatrixType1> & mat1,
+                                          const Eigen::MatrixBase<MatrixType2> & mat2,
                                           const typename MatrixType1::Scalar & prec)
   {
-    return mat1.derived().isApprox(mat2.derived(),prec);
+    return mat1.isApprox(mat2,prec);
   }
 
   template<typename MatrixType1, typename MatrixType2>
-  inline bool is_approx(const MatrixType1 & mat1, const MatrixType2 & mat2)
+  inline EIGEN_DONT_INLINE bool is_approx(const Eigen::MatrixBase<MatrixType1> & mat1,
+                                          const Eigen::MatrixBase<MatrixType2> & mat2)
   {
     return is_approx(mat1,mat2,Eigen::NumTraits<typename MatrixType1::Scalar>::dummy_precision());
   }

python/main.cpp

@@ -46,10 +46,12 @@ BOOST_PYTHON_MODULE(eigenpy)
   
   {
     using namespace Eigen;
-    bp::def("is_approx",(bool (*)(const MatrixXd &, const MatrixXd &, const double &))&is_approx<MatrixXd,MatrixXd>,
+    
+    bp::def("is_approx",(bool (*)(const Eigen::MatrixBase<MatrixXd> &, const Eigen::MatrixBase<MatrixXd> &, const double &))&is_approx<MatrixXd,MatrixXd>,
             bp::args("A","B","prec"),
             "Returns True if A is approximately equal to B, within the precision determined by prec.");
-    bp::def("is_approx",(bool (*)(const MatrixXd &, const MatrixXd &))&is_approx<MatrixXd,MatrixXd>,
+    
+    bp::def("is_approx",(bool (*)(const Eigen::MatrixBase<MatrixXd> &, const Eigen::MatrixBase<MatrixXd> &))&is_approx<MatrixXd,MatrixXd>,
             bp::args("A","B"),
             "Returns True if A is approximately equal to B.");
   }