From 6f04d2338b279cdb3033fab5384b273c336d0245 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Tue, 9 Jan 2018 10:12:09 +0100
Subject: [PATCH] [Conversion] Simplify building of Eigen matrices
---
src/details.hpp | 55 +++++++------------------------------------------
1 file changed, 7 insertions(+), 48 deletions(-)
diff --git a/src/details.hpp b/src/details.hpp
index 9dc9d2db..b1bc4ee0 100644
--- a/src/details.hpp
+++ b/src/details.hpp
@@ -97,44 +97,6 @@ namespace eigenpy
};
/* --- FROM PYTHON ------------------------------------------------------------ */
- namespace bp = boost::python;
-
- template<typename MatType, int ROWS,int COLS>
- struct TraitsMatrixConstructor
- {
- static MatType & construct(void*storage,int /*r*/,int /*c*/)
- {
- return * new(storage) MatType();
- }
- };
-
- template<typename MatType>
- struct TraitsMatrixConstructor<MatType,Eigen::Dynamic,Eigen::Dynamic>
- {
- static MatType & construct(void*storage,int r,int c)
- {
- return * new(storage) MatType(r,c);
- }
- };
-
- template<typename MatType,int R>
- struct TraitsMatrixConstructor<MatType,R,Eigen::Dynamic>
- {
- static MatType & construct(void*storage,int /*r*/,int c)
- {
- return * new(storage) MatType(R,c);
- }
- };
-
- template<typename MatType,int C>
- struct TraitsMatrixConstructor<MatType,Eigen::Dynamic,C>
- {
- static MatType & construct(void*storage,int r,int /*c*/)
- {
- return * new(storage) MatType(r,C);
- }
- };
-
template<typename MatType>
struct EigenFromPy
@@ -195,20 +157,17 @@ namespace eigenpy
bp::converter::rvalue_from_python_stage1_data* memory)
{
using namespace Eigen;
-
+
PyArrayObject * pyArray = reinterpret_cast<PyArrayObject*>(pyObj);
typename MapNumpy<MatType>::EigenMap numpyMap = MapNumpy<MatType>::map(pyArray);
-
+ assert( (numpyMap.rows()<INT_MAX) && (numpyMap.cols()<INT_MAX)
+ && "Map range larger than int ... can never happen." );
+
void* storage = ((bp::converter::rvalue_from_python_storage<MatType>*)
- ((void*)memory))->storage.bytes;
- assert( (numpyMap.rows()<INT_MAX) && (numpyMap.cols()<INT_MAX)
- && "Map range larger than int ... can never happen." );
- int r=(int)numpyMap.rows(),c=(int)numpyMap.cols();
- MatType & eigenMatrix = //* new(storage) MatType(numpyMap.rows(),numpyMap.cols());
- TraitsMatrixConstructor<MatType,MatType::RowsAtCompileTime,MatType::ColsAtCompileTime>::construct (storage,r,c);
+ ((void*)memory))->storage.bytes;
+
+ new(storage) MatType(numpyMap);
memory->convertible = storage;
-
- eigenMatrix = numpyMap;
}
};
#define numpy_import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); } }
--
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