diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index 2fa0de5e0bd8f4d6ae6ffb058f32a730511b4f2d..9a43df4b7389fbf22ada994408c50a8f3f858fe6 100644
--- a/include/eigenpy/details.hpp
+++ b/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 {};
diff --git a/include/eigenpy/details/rvalue_from_python_data.hpp b/include/eigenpy/details/rvalue_from_python_data.hpp
index 3cd94e979cc59f40f30d6f01131d144f07829136..254961b9fb3a2a69848e9364ba8e3c16f195c735 100644
--- a/include/eigenpy/details/rvalue_from_python_data.hpp
+++ b/include/eigenpy/details/rvalue_from_python_data.hpp
@@ -1,3 +1,7 @@
+/*
+ * 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
diff --git a/include/eigenpy/utils/is-approx.hpp b/include/eigenpy/utils/is-approx.hpp
index 7f82ffde1144abe694c414ecda119baff4a7fc9c..59d3064e9b4d616868d34171f1403aceb88cb5f5 100644
--- a/include/eigenpy/utils/is-approx.hpp
+++ b/include/eigenpy/utils/is-approx.hpp
@@ -1,6 +1,6 @@
/*
-* 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());
}
diff --git a/python/main.cpp b/python/main.cpp
index 11b35d5d838c8e26ce179eb70b945ad1336feaa9..075b819b90c8ae6e7e50d5db6162b6e8e440dc7f 100644
--- a/python/main.cpp
+++ b/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.");
}