From 4119d80e71e73c4a780bcecff29b8a26b19e2c24 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 30 Jan 2020 18:59:15 +0100
Subject: [PATCH] python: fix issue when calling is_approx
There is a shift in memory that I cannot understand in release mode
---
include/eigenpy/utils/is-approx.hpp | 14 ++++++++++----
python/main.cpp | 27 +++++++++------------------
2 files changed, 19 insertions(+), 22 deletions(-)
diff --git a/include/eigenpy/utils/is-approx.hpp b/include/eigenpy/utils/is-approx.hpp
index 2c1d24f2..7f82ffde 100644
--- a/include/eigenpy/utils/is-approx.hpp
+++ b/include/eigenpy/utils/is-approx.hpp
@@ -10,11 +10,17 @@
namespace eigenpy
{
template<typename MatrixType1, typename MatrixType2>
- inline bool is_approx(const Eigen::MatrixBase<MatrixType1> & mat1,
- const Eigen::MatrixBase<MatrixType2> & mat2,
- const typename MatrixType1::Scalar & prec = Eigen::NumTraits<typename MatrixType1::Scalar>::dummy_precision())
+ inline EIGEN_DONT_INLINE bool is_approx(const MatrixType1 & mat1,
+ const MatrixType2 & mat2,
+ const typename MatrixType1::Scalar & prec)
{
- return mat1.isApprox(mat2,prec);
+ return mat1.derived().isApprox(mat2.derived(),prec);
+ }
+
+ template<typename MatrixType1, typename MatrixType2>
+ inline bool is_approx(const MatrixType1 & mat1, const 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 be723739..925d9cff 100644
--- a/python/main.cpp
+++ b/python/main.cpp
@@ -17,24 +17,8 @@
#include <boost/python/scope.hpp>
-#define DEFINE_IS_APPROX(MatType) \
- BOOST_PYTHON_FUNCTION_OVERLOADS(is_approx_overload##MatType,eigenpy::is_approx,2,3)
-
-#define EXPOSE_IS_APPROX(MatType) \
- bp::def("is_approx", \
- (bool (*)(const Eigen::MatrixBase<MatType> &, \
- const Eigen::MatrixBase<MatType> &, \
- const MatType::Scalar &))eigenpy::is_approx<MatType,MatType>, \
- is_approx_overload##MatType(bp::args("A","B","prec"), \
- "Returns True if A is approximately equal to B, within the precision determined by prec."))
-
-
using namespace eigenpy;
-DEFINE_IS_APPROX(MatrixXd)
-DEFINE_IS_APPROX(MatrixXf)
-
-
BOOST_PYTHON_MODULE(eigenpy)
{
namespace bp = boost::python;
@@ -62,8 +46,15 @@ BOOST_PYTHON_MODULE(eigenpy)
{
using namespace Eigen;
- EXPOSE_IS_APPROX(MatrixXd);
- EXPOSE_IS_APPROX(MatrixXf);
+ bp::def("is_approx",(bool (*)(const MatrixXd &, const 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::args("A","B"),
+ "Returns True if A is approximately equal to B..");
+
+// EXPOSE_IS_APPROX(MatrixXd);
+// EXPOSE_IS_APPROX(MatrixXf);
}
exposeDecompositions();
--
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