From 6aedd37e1bcf32b9f5c0e0670a97c083aa7d3371 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 18 Jul 2019 14:53:53 +0200
Subject: [PATCH] core: improve copy from Python to Eigen::Matrix
---
include/eigenpy/details.hpp | 21 ++++++++++++++++++++-
1 file changed, 20 insertions(+), 1 deletion(-)
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index f8815e39..678837c9 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -145,18 +145,37 @@ namespace eigenpy
const int rows = (int)PyArray_DIMS(pyArray)[0];
const int cols = (int)PyArray_DIMS(pyArray)[1];
- Type * mat_ptr = new(storage) Type(rows,cols);
+ Type * mat_ptr = new (storage) Type(rows,cols);
+
+ if(NumpyEquivalentType<Scalar>::type_code == GET_PY_ARRAY_TYPE(pyArray))
+ {
+ *mat_ptr = MapNumpy<MatType,Scalar>::map(pyArray); // avoid useless cast
+ return;
+ }
+
if(GET_PY_ARRAY_TYPE(pyArray) == NPY_INT)
+ {
*mat_ptr = MapNumpy<MatType,int>::map(pyArray).template cast<Scalar>();
+ return;
+ }
if(GET_PY_ARRAY_TYPE(pyArray) == NPY_LONG)
+ {
*mat_ptr = MapNumpy<MatType,long>::map(pyArray).template cast<Scalar>();
+ return;
+ }
if(GET_PY_ARRAY_TYPE(pyArray) == NPY_FLOAT)
+ {
*mat_ptr = MapNumpy<MatType,float>::map(pyArray).template cast<Scalar>();
+ return;
+ }
if(GET_PY_ARRAY_TYPE(pyArray) == NPY_DOUBLE)
+ {
*mat_ptr = MapNumpy<MatType,double>::map(pyArray).template cast<Scalar>();
+ return;
+ }
}
/// \brief Copy mat into the Python array using Eigen::Map
--
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