diff --git a/include/eigenpy/eigen-allocator.hpp b/include/eigenpy/eigen-allocator.hpp
index dc6a84ce43a61a5afeaf3b55a08717e475ff448f..343f76811e353a42a7cd6dcada9992007633f3dc 100644
--- a/include/eigenpy/eigen-allocator.hpp
+++ b/include/eigenpy/eigen-allocator.hpp
@@ -66,6 +66,17 @@ namespace eigenpy
}
}
};
+
+ template<typename MatType>
+ bool check_swap(PyArrayObject * pyArray,
+ const Eigen::MatrixBase<MatType> & mat)
+ {
+ if(PyArray_NDIM(pyArray) == 0) return false;
+ if(mat.rows() == PyArray_DIMS(pyArray)[0])
+ return false;
+ else
+ return true;
+ }
template<typename Scalar, typename NewScalar, bool cast_is_valid = FromTypeToType<Scalar,NewScalar>::value >
struct cast_matrix_or_array
@@ -75,10 +86,7 @@ namespace eigenpy
const Eigen::MatrixBase<MatrixOut> & dest)
{
MatrixOut & dest_ = const_cast<MatrixOut &>(dest.derived());
- if(dest.rows() == input.rows())
- dest_ = input.template cast<NewScalar>();
- else
- dest_ = input.transpose().template cast<NewScalar>();
+ dest_ = input.template cast<NewScalar>();
}
};
@@ -97,11 +105,11 @@ namespace eigenpy
} // namespace details
#define EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType,Scalar,NewScalar,pyArray,mat) \
- details::cast_matrix_or_array<Scalar,NewScalar>::run(NumpyMap<MatType,Scalar>::map(pyArray),mat)
+ details::cast_matrix_or_array<Scalar,NewScalar>::run(NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat)),mat)
#define EIGENPY_CAST_FROM_EIGEN_MATRIX_TO_PYARRAY(MatType,Scalar,NewScalar,mat,pyArray) \
- details::cast_matrix_or_array<Scalar,NewScalar>::run(mat,NumpyMap<MatType,NewScalar>::map(pyArray))
-
+ details::cast_matrix_or_array<Scalar,NewScalar>::run(mat,NumpyMap<MatType,NewScalar>::map(pyArray,details::check_swap(pyArray,mat)))
+
template<typename MatType>
struct EigenAllocator
{
@@ -119,7 +127,7 @@ namespace eigenpy
const int Scalar_type_code = Register::getTypeCode<Scalar>();
if(pyArray_type_code == Scalar_type_code)
{
- mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
+ mat = NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat)); // avoid useless cast
return;
}
@@ -167,11 +175,8 @@ namespace eigenpy
if(pyArray_type_code == Scalar_type_code) // no cast needed
{
- MapType map_pyArray = NumpyMap<MatType,Scalar>::map(pyArray);
- if(mat.rows() == map_pyArray.rows())
- map_pyArray = mat;
- else
- map_pyArray = mat.transpose();
+ MapType map_pyArray = NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat));
+ map_pyArray = mat;
return;
}
@@ -252,7 +257,7 @@ namespace eigenpy
RefType & mat = *reinterpret_cast<RefType*>(raw_ptr);
if(pyArray_type_code == Scalar_type_code)
{
- mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
+ mat = NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat)); // avoid useless cast
return;
}
@@ -346,7 +351,7 @@ namespace eigenpy
MatType & mat = *mat_ptr;
if(pyArray_type_code == Scalar_type_code)
{
- mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
+ mat = NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat)); // avoid useless cast
return;
}
diff --git a/include/eigenpy/fwd.hpp b/include/eigenpy/fwd.hpp
index 50a796e4ab634c070d09ab9b81e00571ec64416f..506a1d93a2b055b7914a59f8b2a784cef1ab8560 100644
--- a/include/eigenpy/fwd.hpp
+++ b/include/eigenpy/fwd.hpp
@@ -22,6 +22,8 @@
#define EIGENPY_NO_ALIGNMENT_VALUE Eigen::Unaligned
+#define EIGENPY_UNUSED_VARIABLE(var) (void)(var)
+
#include "eigenpy/expose.hpp"
namespace eigenpy
diff --git a/include/eigenpy/numpy-map.hpp b/include/eigenpy/numpy-map.hpp
index 85902af4c071a79989675fd92f9f74457ecbef0a..ed8d846297ab5781c361355aca2bb28382f461dd 100644
--- a/include/eigenpy/numpy-map.hpp
+++ b/include/eigenpy/numpy-map.hpp
@@ -22,7 +22,7 @@ namespace eigenpy
typedef NumpyMapTraits<MatType, InputScalar, AlignmentValue, Stride> Impl;
typedef typename Impl::EigenMap EigenMap;
- static EigenMap map(PyArrayObject* pyArray);
+ static EigenMap map(PyArrayObject* pyArray, bool swap_dimensions = false);
};
} // namespace eigenpy
@@ -39,7 +39,7 @@ namespace eigenpy
typedef Eigen::Matrix<InputScalar,MatType::RowsAtCompileTime,MatType::ColsAtCompileTime,MatType::Options> EquivalentInputMatrixType;
typedef Eigen::Map<EquivalentInputMatrixType,AlignmentValue,Stride> EigenMap;
- static EigenMap mapImpl(PyArrayObject* pyArray)
+ static EigenMap mapImpl(PyArrayObject* pyArray, bool swap_dimensions = false)
{
enum {
OuterStrideAtCompileTime = Stride::OuterStrideAtCompileTime,
@@ -77,11 +77,22 @@ namespace eigenpy
assert( (PyArray_DIMS(pyArray)[0] < INT_MAX)
&& (PyArray_STRIDE(pyArray,0) < INT_MAX));
- rows = (int)PyArray_DIMS(pyArray)[0];
- cols = 1;
-
- inner_stride = (int)PyArray_STRIDE(pyArray, 0) / (int)itemsize;
- outer_stride = 0;
+ if(!swap_dimensions)
+ {
+ rows = (int)PyArray_DIMS(pyArray)[0];
+ cols = 1;
+
+ inner_stride = (int)PyArray_STRIDE(pyArray, 0) / (int)itemsize;
+ outer_stride = 0;
+ }
+ else
+ {
+ rows = 1;
+ cols = (int)PyArray_DIMS(pyArray)[0];
+
+ inner_stride = 0;
+ outer_stride = (int)PyArray_STRIDE(pyArray, 0) / (int)itemsize;
+ }
}
// Specific care for Eigen::Stride<-1,0>
@@ -113,8 +124,9 @@ namespace eigenpy
typedef Eigen::Matrix<InputScalar,MatType::RowsAtCompileTime,MatType::ColsAtCompileTime,MatType::Options> EquivalentInputMatrixType;
typedef Eigen::Map<EquivalentInputMatrixType,AlignmentValue,Stride> EigenMap;
- static EigenMap mapImpl(PyArrayObject* pyArray)
+ static EigenMap mapImpl(PyArrayObject* pyArray, bool swap_dimensions = false)
{
+ EIGENPY_UNUSED_VARIABLE(swap_dimensions);
assert( PyArray_NDIM(pyArray) <= 2 );
int rowMajor;
@@ -141,9 +153,9 @@ namespace eigenpy
template<typename MatType, typename InputScalar, int AlignmentValue, typename Stride>
typename NumpyMap<MatType,InputScalar,AlignmentValue,Stride>::EigenMap
- NumpyMap<MatType,InputScalar,AlignmentValue,Stride>::map(PyArrayObject * pyArray)
+ NumpyMap<MatType,InputScalar,AlignmentValue,Stride>::map(PyArrayObject * pyArray, bool swap_dimensions)
{
- return Impl::mapImpl(pyArray);
+ return Impl::mapImpl(pyArray,swap_dimensions);
}
} // namespace eigenpy
diff --git a/include/eigenpy/user-type.hpp b/include/eigenpy/user-type.hpp
index ece564da23f2125b5baafca9dfed57e1ead1a402..7181063e5dd21f7b2cdff398cda4de8518c813e8 100644
--- a/include/eigenpy/user-type.hpp
+++ b/include/eigenpy/user-type.hpp
@@ -191,12 +191,12 @@ namespace eigenpy
PyArray_DotFunc * dotfunc = &internal::SpecialMethods<Scalar>::dotfunc;
// PyArray_CastFunc * cast = &internal::SpecialMethods<Scalar>::cast;
- int code = Register::registerNewType(py_type_ptr,
- &typeid(Scalar),
- sizeof(Scalar),
- getitem, setitem, nonzero,
- copyswap, copyswapn,
- dotfunc);
+ int code = Register::registerNewType(py_type_ptr,
+ &typeid(Scalar),
+ sizeof(Scalar),
+ getitem, setitem, nonzero,
+ copyswap, copyswapn,
+ dotfunc);
return code;
}
diff --git a/unittest/matrix.cpp b/unittest/matrix.cpp
index b7cbc593d5703e85a2d1f70de6b7f8efa8468155..ce8a1c191aafb95e000b85e4eb3d111d04f70fd1 100644
--- a/unittest/matrix.cpp
+++ b/unittest/matrix.cpp
@@ -94,8 +94,13 @@ BOOST_PYTHON_MODULE(matrix)
namespace bp = boost::python;
eigenpy::enableEigenPy();
+ // Square matrix
typedef Eigen::Matrix<double,6,6> Matrix6;
eigenpy::enableEigenPySpecific<Matrix6>();
+
+ // Non-square matrix
+ typedef Eigen::Matrix<double,4,6> Matrix46;
+ eigenpy::enableEigenPySpecific<Matrix46>();
Eigen::MatrixXd (*naturalsXX)(int,int,bool) = naturals;
Eigen::VectorXd (*naturalsX)(int,bool) = naturals;