From 7fc0f5e240549a8e22e4c52a94b9a73783b5f2bc Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Fri, 21 Feb 2020 09:51:04 +0100
Subject: [PATCH] core: add default exposition of RowMajor Eigen types
---
include/eigenpy/eigenpy.hpp | 36 +++++++++++++++++-------------
src/eigenpy.cpp | 1 -
src/matrix-complex-double.cpp | 1 +
src/matrix-complex-float.cpp | 1 +
src/matrix-complex-long-double.cpp | 1 +
src/matrix-double.cpp | 1 +
src/matrix-float.cpp | 1 +
src/matrix-int.cpp | 1 +
src/matrix-long-double.cpp | 1 +
src/matrix-long.cpp | 1 +
10 files changed, 29 insertions(+), 16 deletions(-)
diff --git a/include/eigenpy/eigenpy.hpp b/include/eigenpy/eigenpy.hpp
index b9668da4..75c2c73e 100644
--- a/include/eigenpy/eigenpy.hpp
+++ b/include/eigenpy/eigenpy.hpp
@@ -24,28 +24,28 @@
#endif // if EIGEN_VERSION_AT_LEAST(3,2,0)
-#define EIGENPY_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix) \
+#define EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, Size, SizeSuffix) \
/** \ingroup matrixtypedefs */ \
- typedef Eigen::Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \
+ typedef Eigen::Matrix<Type, Size, Size, Options> Matrix##SizeSuffix##TypeSuffix; \
/** \ingroup matrixtypedefs */ \
typedef Eigen::Matrix<Type, Size, 1> Vector##SizeSuffix##TypeSuffix; \
/** \ingroup matrixtypedefs */ \
typedef Eigen::Matrix<Type, 1, Size> RowVector##SizeSuffix##TypeSuffix;
-#define EIGENPY_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size) \
+#define EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, Size) \
/** \ingroup matrixtypedefs */ \
- typedef Eigen::Matrix<Type, Size, Eigen::Dynamic> Matrix##Size##X##TypeSuffix; \
+ typedef Eigen::Matrix<Type, Size, Eigen::Dynamic, Options> Matrix##Size##X##TypeSuffix; \
/** \ingroup matrixtypedefs */ \
- typedef Eigen::Matrix<Type, Eigen::Dynamic, Size> Matrix##X##Size##TypeSuffix;
+ typedef Eigen::Matrix<Type, Eigen::Dynamic, Size, Options> Matrix##X##Size##TypeSuffix;
-#define EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
- EIGENPY_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
- EIGENPY_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
- EIGENPY_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
- EIGENPY_MAKE_TYPEDEFS(Type, TypeSuffix, Eigen::Dynamic, X) \
- EIGENPY_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
- EIGENPY_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
- EIGENPY_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
+#define EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Type, Options, TypeSuffix) \
+ EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 2, 2) \
+ EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 3, 3) \
+ EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, 4, 4) \
+ EIGENPY_MAKE_TYPEDEFS(Type, Options, TypeSuffix, Eigen::Dynamic, X) \
+ EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 2) \
+ EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 3) \
+ EIGENPY_MAKE_FIXED_TYPEDEFS(Type, Options, TypeSuffix, 4)
namespace eigenpy
{
@@ -65,10 +65,10 @@ namespace eigenpy
template<typename MatType,typename EigenEquivalentType>
EIGENPY_DEPRECATED void enableEigenPySpecific();
- template<typename Scalar>
+ template<typename Scalar, int Options>
EIGEN_DONT_INLINE void exposeType()
{
- EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Scalar,s);
+ EIGENPY_MAKE_TYPEDEFS_ALL_SIZES(Scalar,Options,s);
ENABLE_SPECIFIC_MATRIX_TYPE(Vector2s);
ENABLE_SPECIFIC_MATRIX_TYPE(RowVector2s);
@@ -93,6 +93,12 @@ namespace eigenpy
ENABLE_SPECIFIC_MATRIX_TYPE(MatrixXs);
}
+ template<typename Scalar>
+ EIGEN_DONT_INLINE void exposeType()
+ {
+ exposeType<Scalar,0>();
+ }
+
} // namespace eigenpy
#include "eigenpy/details.hpp"
diff --git a/src/eigenpy.cpp b/src/eigenpy.cpp
index c85030b1..85d6f5b1 100644
--- a/src/eigenpy.cpp
+++ b/src/eigenpy.cpp
@@ -6,7 +6,6 @@
#include "eigenpy/eigenpy.hpp"
#include <stdlib.h>
-
namespace eigenpy
{
diff --git a/src/matrix-complex-double.cpp b/src/matrix-complex-double.cpp
index 899f88fc..a3fa1634 100644
--- a/src/matrix-complex-double.cpp
+++ b/src/matrix-complex-double.cpp
@@ -9,5 +9,6 @@ namespace eigenpy
void exposeMatrixComplexDouble()
{
exposeType<std::complex<double> >();
+ exposeType<std::complex<double>,Eigen::RowMajor>();
}
}
diff --git a/src/matrix-complex-float.cpp b/src/matrix-complex-float.cpp
index 323c52d7..885d2a3e 100644
--- a/src/matrix-complex-float.cpp
+++ b/src/matrix-complex-float.cpp
@@ -9,5 +9,6 @@ namespace eigenpy
void exposeMatrixComplexFloat()
{
exposeType<std::complex<float> >();
+ exposeType<std::complex<float>,Eigen::RowMajor>();
}
}
diff --git a/src/matrix-complex-long-double.cpp b/src/matrix-complex-long-double.cpp
index 1f987ae1..b27cf1dd 100644
--- a/src/matrix-complex-long-double.cpp
+++ b/src/matrix-complex-long-double.cpp
@@ -9,5 +9,6 @@ namespace eigenpy
void exposeMatrixComplexLongDouble()
{
exposeType<std::complex<long double> >();
+ exposeType<std::complex<long double>,Eigen::RowMajor>();
}
}
diff --git a/src/matrix-double.cpp b/src/matrix-double.cpp
index dc84a9c2..13215978 100644
--- a/src/matrix-double.cpp
+++ b/src/matrix-double.cpp
@@ -9,5 +9,6 @@ namespace eigenpy
void exposeMatrixDouble()
{
exposeType<double>();
+ exposeType<double,Eigen::RowMajor>();
}
}
diff --git a/src/matrix-float.cpp b/src/matrix-float.cpp
index 100b8e9e..44779560 100644
--- a/src/matrix-float.cpp
+++ b/src/matrix-float.cpp
@@ -9,5 +9,6 @@ namespace eigenpy
void exposeMatrixFloat()
{
exposeType<float>();
+ exposeType<float,Eigen::RowMajor>();
}
}
diff --git a/src/matrix-int.cpp b/src/matrix-int.cpp
index a4b0d8b2..476746cc 100644
--- a/src/matrix-int.cpp
+++ b/src/matrix-int.cpp
@@ -9,5 +9,6 @@ namespace eigenpy
void exposeMatrixInt()
{
exposeType<int>();
+ exposeType<int,Eigen::RowMajor>();
}
}
diff --git a/src/matrix-long-double.cpp b/src/matrix-long-double.cpp
index 1b2a8f71..41bcb699 100644
--- a/src/matrix-long-double.cpp
+++ b/src/matrix-long-double.cpp
@@ -9,5 +9,6 @@ namespace eigenpy
void exposeMatrixLongDouble()
{
exposeType<long double>();
+ exposeType<long double,Eigen::RowMajor>();
}
}
diff --git a/src/matrix-long.cpp b/src/matrix-long.cpp
index 835b6cce..6d34fcef 100644
--- a/src/matrix-long.cpp
+++ b/src/matrix-long.cpp
@@ -9,5 +9,6 @@ namespace eigenpy
void exposeMatrixLong()
{
exposeType<long>();
+ exposeType<long,Eigen::RowMajor>();
}
}
--
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