From 52106de3644c78cdf3e55fea0b3acb9c41be1d23 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sat, 22 Feb 2020 19:58:20 +0100
Subject: [PATCH] core: add converter to python for Eigen::Matrix
---
include/eigenpy/details.hpp | 1 -
include/eigenpy/eigen-to-python.hpp | 109 ++++++++++++++++++----------
2 files changed, 72 insertions(+), 38 deletions(-)
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index 6b15de6c..484e1b98 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -22,7 +22,6 @@
#include "eigenpy/map.hpp"
#include "eigenpy/exception.hpp"
-
namespace boost { namespace python { namespace detail {
template<class MatType>
diff --git a/include/eigenpy/eigen-to-python.hpp b/include/eigenpy/eigen-to-python.hpp
index 0696eea1..cc990519 100644
--- a/include/eigenpy/eigen-to-python.hpp
+++ b/include/eigenpy/eigen-to-python.hpp
@@ -8,53 +8,88 @@
#include "eigenpy/fwd.hpp"
#include "eigenpy/numpy-type.hpp"
#include "eigenpy/eigen-allocator.hpp"
+#include "eigenpy/numpy-allocator.hpp"
+
+#include <boost/type_traits.hpp>
+
+namespace boost { namespace python {
+
+ template<typename MatrixRef, class MakeHolder>
+ struct to_python_indirect_eigen
+ {
+ template <class U>
+ inline PyObject* operator()(U const& mat) const
+ {
+ return eigenpy::EigenToPy<MatrixRef>::convert(const_cast<U&>(mat));
+ }
+
+#ifndef BOOST_PYTHON_NO_PY_SIGNATURES
+ inline PyTypeObject const*
+ get_pytype()const
+ {
+ return converter::registered_pytype<MatrixRef>::get_pytype();
+ }
+#endif
+ };
+
+ template <typename Scalar, int RowsAtCompileTime, int ColsAtCompileTime, int Options, int MaxRowsAtCompileTime, int MaxColsAtCompileTime, class MakeHolder>
+ struct to_python_indirect<Eigen::Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime,Options,MaxRowsAtCompileTime,MaxColsAtCompileTime>&,MakeHolder>
+ : to_python_indirect_eigen<Eigen::Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime,Options,MaxRowsAtCompileTime,MaxColsAtCompileTime>&,MakeHolder>
+ {
+ };
+
+ template <typename Scalar, int RowsAtCompileTime, int ColsAtCompileTime, int Options, int MaxRowsAtCompileTime, int MaxColsAtCompileTime, class MakeHolder>
+ struct to_python_indirect<const Eigen::Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime,Options,MaxRowsAtCompileTime,MaxColsAtCompileTime>&,MakeHolder>
+ : to_python_indirect_eigen<const Eigen::Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime,Options,MaxRowsAtCompileTime,MaxColsAtCompileTime>&,MakeHolder>
+ {
+ };
+
+}}
namespace eigenpy
{
namespace bp = boost::python;
- template<typename MatType>
- struct EigenToPy
+ template<typename MatType>
+ struct EigenToPy
+ {
+ static PyObject* convert(typename boost::add_reference<typename boost::add_const<MatType>::type>::type mat)
{
- static PyObject* convert(MatType const & mat)
+ typedef typename boost::remove_const<typename boost::remove_reference<MatType>::type>::type MatrixDerived;
+
+ assert( (mat.rows()<INT_MAX) && (mat.cols()<INT_MAX)
+ && "Matrix range larger than int ... should never happen." );
+ const npy_intp R = (npy_intp)mat.rows(), C = (npy_intp)mat.cols();
+
+ PyArrayObject* pyArray;
+ // Allocate Python memory
+ if( ( ((!(C == 1) != !(R == 1)) && !MatrixDerived::IsVectorAtCompileTime) || MatrixDerived::IsVectorAtCompileTime)
+ && NumpyType::getType() == ARRAY_TYPE) // Handle array with a single dimension
{
- typedef typename MatType::Scalar Scalar;
- assert( (mat.rows()<INT_MAX) && (mat.cols()<INT_MAX)
- && "Matrix range larger than int ... should never happen." );
- const npy_intp R = (npy_intp)mat.rows(), C = (npy_intp)mat.cols();
-
- PyArrayObject* pyArray;
- // Allocate Python memory
- if( ( ((!(C == 1) != !(R == 1)) && !MatType::IsVectorAtCompileTime) || MatType::IsVectorAtCompileTime)
- && NumpyType::getType() == ARRAY_TYPE) // Handle array with a single dimension
- {
- npy_intp shape[1] = { C == 1 ? R : C };
- pyArray = (PyArrayObject*) PyArray_SimpleNew(1, shape,
- NumpyEquivalentType<Scalar>::type_code);
- }
- else
- {
- npy_intp shape[2] = { R,C };
- pyArray = (PyArrayObject*) PyArray_SimpleNew(2, shape,
- NumpyEquivalentType<Scalar>::type_code);
- }
-
- // Copy data
- EigenAllocator<MatType>::copy(mat,pyArray);
-
- // Create an instance (either np.array or np.matrix)
- return NumpyType::getInstance().make(pyArray).ptr();
+ npy_intp shape[1] = { C == 1 ? R : C };
+ pyArray = NumpyAllocator<MatType>::allocate(const_cast<MatrixDerived &>(mat.derived()),
+ 1,shape);
}
- };
-
- template<typename MatType>
- struct EigenToPyConverter
- {
- static void registration()
+ else
{
- bp::to_python_converter<MatType,EigenToPy<MatType> >();
+ npy_intp shape[2] = { R,C };
+ pyArray = NumpyAllocator<MatType>::allocate(const_cast<MatrixDerived &>(mat.derived()),
+ 2,shape);
}
- };
+
+ // Create an instance (either np.array or np.matrix)
+ return NumpyType::make(pyArray).ptr();
+ }
+ };
+
+ template<typename MatType>
+ struct EigenToPyConverter
+ {
+ static void registration()
+ {
+ bp::to_python_converter<MatType,EigenToPy<MatType> >();
+ }
+ };
#if EIGEN_VERSION_AT_LEAST(3,2,0)
template<typename MatType>
--
GitLab