diff --git a/CMakeLists.txt b/CMakeLists.txt
index fcd917f885a1a7b16c46277dec0d84720ac4f1ca..a7bb4914ffe9e2117c2a9380baa31cdbd56ade50 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -109,6 +109,7 @@ SET(${PROJECT_NAME}_HEADERS
include/eigenpy/geometry.hpp
include/eigenpy/geometry-conversion.hpp
include/eigenpy/memory.hpp
+ include/eigenpy/numpy-type.hpp
include/eigenpy/registration.hpp
include/eigenpy/angle-axis.hpp
include/eigenpy/quaternion.hpp
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index 2f78813b5d9f5dbad20c36c4020785aaabfb458b..89ebdc4009ced99a7d0b40612ac89eaead33d377 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -13,6 +13,7 @@
#include <iostream>
#include "eigenpy/eigenpy.hpp"
+#include "eigenpy/numpy-type.hpp"
#include "eigenpy/registration.hpp"
#include "eigenpy/map.hpp"
#include "eigenpy/exception.hpp"
@@ -64,125 +65,6 @@ namespace eigenpy
namespace bp = boost::python;
- enum NP_TYPE
- {
- MATRIX_TYPE,
- ARRAY_TYPE
- };
-
- struct NumpyType
- {
-
- static NumpyType & getInstance()
- {
- static NumpyType instance;
- return instance;
- }
-
- operator bp::object () { return getInstance().CurrentNumpyType; }
-
- static bp::object make(PyArrayObject* pyArray, bool copy = false)
- { return make((PyObject*)pyArray,copy); }
-
- static bp::object make(PyObject* pyObj, bool copy = false)
- {
- bp::object m;
- if(isMatrix())
- m = getInstance().NumpyMatrixObject(bp::object(bp::handle<>(pyObj)), bp::object(), copy);
-// m = NumpyAsMatrixObject(bp::object(bp::handle<>(pyObj)));
- else if(isArray())
- m = bp::object(bp::handle<>(pyObj)); // nothing to do here
-
- Py_INCREF(m.ptr());
- return m;
- }
-
- static void setNumpyType(bp::object & obj)
- {
- PyTypeObject * obj_type = PyType_Check(obj.ptr()) ? reinterpret_cast<PyTypeObject*>(obj.ptr()) : obj.ptr()->ob_type;
- if(PyType_IsSubtype(obj_type,getInstance().NumpyMatrixType))
- switchToNumpyMatrix();
- else if(PyType_IsSubtype(obj_type,getInstance().NumpyArrayType))
- switchToNumpyArray();
- }
-
- static void switchToNumpyArray()
- {
- getInstance().CurrentNumpyType = getInstance().NumpyArrayObject;
- getInstance().getType() = ARRAY_TYPE;
- }
-
- static void switchToNumpyMatrix()
- {
- getInstance().CurrentNumpyType = getInstance().NumpyMatrixObject;
- getInstance().getType() = MATRIX_TYPE;
- }
-
- static NP_TYPE & getType()
- {
- return getInstance().np_type;
- }
-
- static bp::object getNumpyType()
- {
- return getInstance().CurrentNumpyType;
- }
-
- static const PyTypeObject * getNumpyMatrixType()
- {
- return getInstance().NumpyMatrixType;
- }
-
- static const PyTypeObject * getNumpyArrayType()
- {
- return getInstance().NumpyArrayType;
- }
-
- static bool isMatrix()
- {
- return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
- getInstance().NumpyMatrixType);
- }
-
- static bool isArray()
- {
- if(getInstance().isMatrix()) return false;
- return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
- getInstance().NumpyArrayType);
- }
-
- protected:
- NumpyType()
- {
- pyModule = bp::import("numpy");
-#if PY_MAJOR_VERSION >= 3
- // TODO I don't know why this Py_INCREF is necessary.
- // Without it, the destructor of NumpyType SEGV sometimes.
- Py_INCREF(pyModule.ptr());
-#endif
-
- NumpyMatrixObject = pyModule.attr("matrix");
- NumpyMatrixType = reinterpret_cast<PyTypeObject*>(NumpyMatrixObject.ptr());
- NumpyArrayObject = pyModule.attr("ndarray");
- NumpyArrayType = reinterpret_cast<PyTypeObject*>(NumpyArrayObject.ptr());
- //NumpyAsMatrixObject = pyModule.attr("asmatrix");
- //NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());
-
- CurrentNumpyType = NumpyArrayObject; // default conversion
- np_type = ARRAY_TYPE;
- }
-
- bp::object CurrentNumpyType;
- bp::object pyModule;
-
- // Numpy types
- bp::object NumpyMatrixObject; PyTypeObject * NumpyMatrixType;
- //bp::object NumpyAsMatrixObject; PyTypeObject * NumpyAsMatrixType;
- bp::object NumpyArrayObject; PyTypeObject * NumpyArrayType;
-
- NP_TYPE np_type;
- };
-
template<typename MatType, bool IsVectorAtCompileTime = MatType::IsVectorAtCompileTime>
struct initEigenObject
{
diff --git a/include/eigenpy/numpy-type.hpp b/include/eigenpy/numpy-type.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..07be4c99a252a54373c31207d33387d0b39511aa
--- /dev/null
+++ b/include/eigenpy/numpy-type.hpp
@@ -0,0 +1,138 @@
+/*
+ * Copyright 2018-2020, INRIA
+*/
+
+#ifndef __eigenpy_numpy_type_hpp__
+#define __eigenpy_numpy_type_hpp__
+
+#include "eigenpy/fwd.hpp"
+
+#include <iostream>
+#include <patchlevel.h> // For PY_MAJOR_VERSION
+
+namespace eigenpy
+{
+ namespace bp = boost::python;
+
+ enum NP_TYPE
+ {
+ MATRIX_TYPE,
+ ARRAY_TYPE
+ };
+
+ struct NumpyType
+ {
+
+ static NumpyType & getInstance()
+ {
+ static NumpyType instance;
+ return instance;
+ }
+
+ operator bp::object () { return getInstance().CurrentNumpyType; }
+
+ static bp::object make(PyArrayObject* pyArray, bool copy = false)
+ { return make((PyObject*)pyArray,copy); }
+
+ static bp::object make(PyObject* pyObj, bool copy = false)
+ {
+ bp::object m;
+ if(isMatrix())
+ m = getInstance().NumpyMatrixObject(bp::object(bp::handle<>(pyObj)), bp::object(), copy);
+// m = NumpyAsMatrixObject(bp::object(bp::handle<>(pyObj)));
+ else if(isArray())
+ m = bp::object(bp::handle<>(pyObj)); // nothing to do here
+
+ Py_INCREF(m.ptr());
+ return m;
+ }
+
+ static void setNumpyType(bp::object & obj)
+ {
+ PyTypeObject * obj_type = PyType_Check(obj.ptr()) ? reinterpret_cast<PyTypeObject*>(obj.ptr()) : obj.ptr()->ob_type;
+ if(PyType_IsSubtype(obj_type,getInstance().NumpyMatrixType))
+ switchToNumpyMatrix();
+ else if(PyType_IsSubtype(obj_type,getInstance().NumpyArrayType))
+ switchToNumpyArray();
+ }
+
+ static void switchToNumpyArray()
+ {
+ getInstance().CurrentNumpyType = getInstance().NumpyArrayObject;
+ getInstance().getType() = ARRAY_TYPE;
+ }
+
+ static void switchToNumpyMatrix()
+ {
+ getInstance().CurrentNumpyType = getInstance().NumpyMatrixObject;
+ getInstance().getType() = MATRIX_TYPE;
+ }
+
+ static NP_TYPE & getType()
+ {
+ return getInstance().np_type;
+ }
+
+ static bp::object getNumpyType()
+ {
+ return getInstance().CurrentNumpyType;
+ }
+
+ static const PyTypeObject * getNumpyMatrixType()
+ {
+ return getInstance().NumpyMatrixType;
+ }
+
+ static const PyTypeObject * getNumpyArrayType()
+ {
+ return getInstance().NumpyArrayType;
+ }
+
+ static bool isMatrix()
+ {
+ return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
+ getInstance().NumpyMatrixType);
+ }
+
+ static bool isArray()
+ {
+ if(getInstance().isMatrix()) return false;
+ return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
+ getInstance().NumpyArrayType);
+ }
+
+ protected:
+ NumpyType()
+ {
+ pyModule = bp::import("numpy");
+#if PY_MAJOR_VERSION >= 3
+ // TODO I don't know why this Py_INCREF is necessary.
+ // Without it, the destructor of NumpyType SEGV sometimes.
+ Py_INCREF(pyModule.ptr());
+#endif
+
+ NumpyMatrixObject = pyModule.attr("matrix");
+ NumpyMatrixType = reinterpret_cast<PyTypeObject*>(NumpyMatrixObject.ptr());
+ NumpyArrayObject = pyModule.attr("ndarray");
+ NumpyArrayType = reinterpret_cast<PyTypeObject*>(NumpyArrayObject.ptr());
+ //NumpyAsMatrixObject = pyModule.attr("asmatrix");
+ //NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());
+
+ CurrentNumpyType = NumpyArrayObject; // default conversion
+ np_type = ARRAY_TYPE;
+ }
+
+ bp::object CurrentNumpyType;
+ bp::object pyModule;
+
+ // Numpy types
+ bp::object NumpyMatrixObject; PyTypeObject * NumpyMatrixType;
+ //bp::object NumpyAsMatrixObject; PyTypeObject * NumpyAsMatrixType;
+ bp::object NumpyArrayObject; PyTypeObject * NumpyArrayType;
+
+ NP_TYPE np_type;
+ };
+
+}
+
+#endif // ifndef __eigenpy_numpy_type_hpp__