core: add dedicated EigenToPyConverter

CMakeLists.txt

@@ -108,6 +108,7 @@ SET(${PROJECT_NAME}_HEADERS
   include/eigenpy/fwd.hpp
   include/eigenpy/eigen-allocator.hpp
   include/eigenpy/eigen-to-python.hpp
+  include/eigenpy/eigen-from-python.hpp
   include/eigenpy/map.hpp
   include/eigenpy/geometry.hpp
   include/eigenpy/geometry-conversion.hpp

include/eigenpy/details.hpp

@@ -304,6 +304,7 @@ namespace eigenpy
     }
   };
 
+#endif
   
   template<typename MatType,typename EigenEquivalentType>
   EIGENPY_DEPRECATED
@@ -317,7 +318,7 @@ namespace eigenpy
   {
     if(check_registration<MatType>()) return;
     
-    bp::to_python_converter<MatType,EigenToPy<MatType> >();
+    EigenToPyConverter<MatType>::registration();
     EigenFromPyConverter<MatType>::registration();
   }
 

include/eigenpy/eigen-to-python.hpp

@@ -47,6 +47,24 @@ namespace eigenpy
       }
     };
 
+    template<typename MatType>
+    struct EigenToPyConverter
+    {
+      static void registration()
+      {
+        bp::to_python_converter<MatType,EigenToPy<MatType> >();
+      }
+    };
+
+#if EIGEN_VERSION_AT_LEAST(3,2,0)
+  template<typename MatType>
+  struct EigenToPyConverter< eigenpy::Ref<MatType> >
+  {
+    static void registration()
+    {
+    }
+  };
+#endif
 }
 
 #endif // __eigenpy_eigen_to_python_hpp__