diff --git a/include/eigenpy/eigen-from-python.hpp b/include/eigenpy/eigen-from-python.hpp
index c9bf04cf1342c9262abe134631b4b053656c8588..c923079153e02cedf8eedd479955674927628e58 100644
--- a/include/eigenpy/eigen-from-python.hpp
+++ b/include/eigenpy/eigen-from-python.hpp
@@ -89,31 +89,56 @@ namespace eigenpy
typedef typename MatType::Scalar Scalar;
/// \brief Determine if pyObj can be converted into a MatType object
- static void* convertible(PyArrayObject* pyArray)
+ static void* convertible(PyArrayObject* pyArray);
+
+ /// \brief Allocate memory and copy pyObj in the new storage
+ static void construct(PyObject* pyObj,
+ bp::converter::rvalue_from_python_stage1_data* memory);
+
+ static void registration();
+ };
+
+ template<typename MatType>
+ void* EigenFromPy<MatType>::convertible(PyArrayObject* pyArray)
+ {
+ if(!PyArray_Check(pyArray))
+ return 0;
+
+ if(!np_type_is_convertible_into_scalar<Scalar>(EIGENPY_GET_PY_ARRAY_TYPE(pyArray)))
+ return 0;
+
+ if(MatType::IsVectorAtCompileTime)
{
- if(!PyArray_Check(pyArray))
- return 0;
+ const Eigen::DenseIndex size_at_compile_time
+ = MatType::IsRowMajor
+ ? MatType::ColsAtCompileTime
+ : MatType::RowsAtCompileTime;
- if(!np_type_is_convertible_into_scalar<Scalar>(EIGENPY_GET_PY_ARRAY_TYPE(pyArray)))
- return 0;
-
- if(MatType::IsVectorAtCompileTime)
+ switch(PyArray_NDIM(pyArray))
{
- const Eigen::DenseIndex size_at_compile_time
- = MatType::IsRowMajor
- ? MatType::ColsAtCompileTime
- : MatType::RowsAtCompileTime;
-
- switch(PyArray_NDIM(pyArray))
+ case 0:
+ return 0;
+ case 1:
{
- case 0:
- return 0;
- case 1:
+ if(size_at_compile_time != Eigen::Dynamic)
+ {
+ // check that the sizes at compile time matche
+ if(PyArray_DIMS(pyArray)[0] == size_at_compile_time)
+ return pyArray;
+ else
+ return 0;
+ }
+ else // This is a dynamic MatType
+ return pyArray;
+ }
+ case 2:
+ {
+ // Special care of scalar matrix of dimension 1x1.
+ if(PyArray_DIMS(pyArray)[0] == 1 && PyArray_DIMS(pyArray)[1] == 1)
{
if(size_at_compile_time != Eigen::Dynamic)
{
- // check that the sizes at compile time matche
- if(PyArray_DIMS(pyArray)[0] == size_at_compile_time)
+ if(size_at_compile_time == 1)
return pyArray;
else
return 0;
@@ -121,108 +146,93 @@ namespace eigenpy
else // This is a dynamic MatType
return pyArray;
}
- case 2:
+
+ if(PyArray_DIMS(pyArray)[0] > 1 && PyArray_DIMS(pyArray)[1] > 1)
+ {
+ return 0;
+ }
+
+ if(((PyArray_DIMS(pyArray)[0] == 1) && (MatType::ColsAtCompileTime == 1))
+ || ((PyArray_DIMS(pyArray)[1] == 1) && (MatType::RowsAtCompileTime == 1)))
{
- // Special care of scalar matrix of dimension 1x1.
- if(PyArray_DIMS(pyArray)[0] == 1 && PyArray_DIMS(pyArray)[1] == 1)
- {
- if(size_at_compile_time != Eigen::Dynamic)
- {
- if(size_at_compile_time == 1)
- return pyArray;
- else
- return 0;
- }
- else // This is a dynamic MatType
- return pyArray;
- }
-
- if(PyArray_DIMS(pyArray)[0] > 1 && PyArray_DIMS(pyArray)[1] > 1)
- {
- return 0;
- }
-
- if(((PyArray_DIMS(pyArray)[0] == 1) && (MatType::ColsAtCompileTime == 1))
- || ((PyArray_DIMS(pyArray)[1] == 1) && (MatType::RowsAtCompileTime == 1)))
- {
+ return 0;
+ }
+
+ if(size_at_compile_time != Eigen::Dynamic)
+ { // This is a fixe size vector
+ const Eigen::DenseIndex pyArray_size
+ = PyArray_DIMS(pyArray)[0] > PyArray_DIMS(pyArray)[1]
+ ? PyArray_DIMS(pyArray)[0]
+ : PyArray_DIMS(pyArray)[1];
+ if(size_at_compile_time != pyArray_size)
return 0;
- }
-
- if(size_at_compile_time != Eigen::Dynamic)
- { // This is a fixe size vector
- const Eigen::DenseIndex pyArray_size
- = PyArray_DIMS(pyArray)[0] > PyArray_DIMS(pyArray)[1]
- ? PyArray_DIMS(pyArray)[0]
- : PyArray_DIMS(pyArray)[1];
- if(size_at_compile_time != pyArray_size)
- return 0;
- }
- break;
}
- default:
- return 0;
+ break;
}
+ default:
+ return 0;
}
- else // this is a matrix
+ }
+ else // this is a matrix
+ {
+ if(PyArray_NDIM(pyArray) == 1) // We can always convert a vector into a matrix
{
- if(PyArray_NDIM(pyArray) == 1) // We can always convert a vector into a matrix
- {
- return pyArray;
- }
-
- if(PyArray_NDIM(pyArray) != 2)
- {
- return 0;
- }
-
- if(PyArray_NDIM(pyArray) == 2)
- {
- const int R = (int)PyArray_DIMS(pyArray)[0];
- const int C = (int)PyArray_DIMS(pyArray)[1];
-
- if( (MatType::RowsAtCompileTime!=R)
- && (MatType::RowsAtCompileTime!=Eigen::Dynamic) )
- return 0;
- if( (MatType::ColsAtCompileTime!=C)
- && (MatType::ColsAtCompileTime!=Eigen::Dynamic) )
- return 0;
- }
+ return pyArray;
}
-
-#ifdef NPY_1_8_API_VERSION
- if(!(PyArray_FLAGS(pyArray)))
-#else
- if(!(PyArray_FLAGS(pyArray) & NPY_ALIGNED))
-#endif
+
+ if(PyArray_NDIM(pyArray) != 2)
{
return 0;
}
- return pyArray;
- }
-
- /// \brief Allocate memory and copy pyObj in the new storage
- static void construct(PyObject* pyObj,
- bp::converter::rvalue_from_python_stage1_data* memory)
- {
- PyArrayObject * pyArray = reinterpret_cast<PyArrayObject*>(pyObj);
- assert((PyArray_DIMS(pyArray)[0]<INT_MAX) && (PyArray_DIMS(pyArray)[1]<INT_MAX));
-
- void* storage = reinterpret_cast<bp::converter::rvalue_from_python_storage<MatType>*>
- (reinterpret_cast<void*>(memory))->storage.bytes;
-
- EigenAllocator<MatType>::allocate(pyArray,storage);
-
- memory->convertible = storage;
+ if(PyArray_NDIM(pyArray) == 2)
+ {
+ const int R = (int)PyArray_DIMS(pyArray)[0];
+ const int C = (int)PyArray_DIMS(pyArray)[1];
+
+ if( (MatType::RowsAtCompileTime!=R)
+ && (MatType::RowsAtCompileTime!=Eigen::Dynamic) )
+ return 0;
+ if( (MatType::ColsAtCompileTime!=C)
+ && (MatType::ColsAtCompileTime!=Eigen::Dynamic) )
+ return 0;
+ }
}
- static void registration()
+#ifdef NPY_1_8_API_VERSION
+ if(!(PyArray_FLAGS(pyArray)))
+#else
+ if(!(PyArray_FLAGS(pyArray) & NPY_ALIGNED))
+#endif
{
- bp::converter::registry::push_back
- (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
- &EigenFromPy::construct,bp::type_id<MatType>());
+ return 0;
}
- };
+
+ return pyArray;
+ }
+
+ template<typename MatType>
+ void EigenFromPy<MatType>::construct(PyObject* pyObj,
+ bp::converter::rvalue_from_python_stage1_data* memory)
+ {
+ PyArrayObject * pyArray = reinterpret_cast<PyArrayObject*>(pyObj);
+ assert((PyArray_DIMS(pyArray)[0]<INT_MAX) && (PyArray_DIMS(pyArray)[1]<INT_MAX));
+
+ void* storage = reinterpret_cast<bp::converter::rvalue_from_python_storage<MatType>*>
+ (reinterpret_cast<void*>(memory))->storage.bytes;
+
+ EigenAllocator<MatType>::allocate(pyArray,storage);
+
+ memory->convertible = storage;
+ }
+
+ template<typename MatType>
+ void EigenFromPy<MatType>::registration()
+ {
+ bp::converter::registry::push_back
+ (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
+ &EigenFromPy::construct,bp::type_id<MatType>());
+ }
template<typename MatType>
struct EigenFromPyConverter