From 656219336748c0f6fd3ad0914f2c2a67b345892a Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Tue, 29 Dec 2020 10:36:37 +0100
Subject: [PATCH] core: add new signature to allocate Eigen matrices
---
include/eigenpy/eigen-allocator.hpp | 49 +++++++++++++++++++----------
1 file changed, 33 insertions(+), 16 deletions(-)
diff --git a/include/eigenpy/eigen-allocator.hpp b/include/eigenpy/eigen-allocator.hpp
index 343f7681..ca66b7be 100644
--- a/include/eigenpy/eigen-allocator.hpp
+++ b/include/eigenpy/eigen-allocator.hpp
@@ -19,50 +19,67 @@ namespace eigenpy
template<typename MatType, bool IsVectorAtCompileTime = MatType::IsVectorAtCompileTime>
struct init_matrix_or_array
{
+ static MatType * run(int rows, int cols, void * storage)
+ {
+ if(storage)
+ return new (storage) MatType(rows,cols);
+ else
+ return new MatType(rows,cols);
+ }
+
static MatType * run(PyArrayObject * pyArray, void * storage = NULL)
{
assert(PyArray_NDIM(pyArray) == 1 || PyArray_NDIM(pyArray) == 2);
int rows = -1, cols = -1;
- if(PyArray_NDIM(pyArray) == 2)
+ const int ndim = PyArray_NDIM(pyArray);
+ if(ndim == 2)
{
rows = (int)PyArray_DIMS(pyArray)[0];
cols = (int)PyArray_DIMS(pyArray)[1];
}
- else if(PyArray_NDIM(pyArray) == 1)
+ else if(ndim == 1)
{
rows = (int)PyArray_DIMS(pyArray)[0];
cols = 1;
}
- if(storage)
- return new (storage) MatType(rows,cols);
- else
- return new MatType(rows,cols);
+ return run(rows,cols,storage);
}
};
template<typename MatType>
struct init_matrix_or_array<MatType,true>
{
+ static MatType * run(int rows, int cols, void * storage)
+ {
+ if(storage)
+ return new (storage) MatType(rows,cols);
+ else
+ return new MatType(rows,cols);
+ }
+
+ static MatType * run(int size, void * storage)
+ {
+ if(storage)
+ return new (storage) MatType(size);
+ else
+ return new MatType(size);
+ }
+
static MatType * run(PyArrayObject * pyArray, void * storage = NULL)
{
- if(PyArray_NDIM(pyArray) == 1)
+ const int ndim = PyArray_NDIM(pyArray);
+ if(ndim == 1)
{
- const int rows_or_cols = (int)PyArray_DIMS(pyArray)[0];
- if(storage)
- return new (storage) MatType(rows_or_cols);
- else
- return new MatType(rows_or_cols);
+ const int size = (int)PyArray_DIMS(pyArray)[0];
+ return run(size,storage);
}
else
{
const int rows = (int)PyArray_DIMS(pyArray)[0];
const int cols = (int)PyArray_DIMS(pyArray)[1];
- if(storage)
- return new (storage) MatType(rows,cols);
- else
- return new MatType(rows,cols);
+ return run(rows,cols,storage);
}
}
};
--
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