From 8fbd8efef397ca0de089b0ac6f6196f31366f9a2 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 18 Jul 2019 17:51:34 +0200
Subject: [PATCH] core: improve readibility
---
include/eigenpy/details.hpp | 17 ++++++++++++-----
1 file changed, 12 insertions(+), 5 deletions(-)
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index 47cb7a31..e502467c 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -237,32 +237,39 @@ namespace eigenpy
}
};
#endif
+
/* --- TO PYTHON -------------------------------------------------------------- */
+
template<typename MatType>
struct EigenToPy
{
- static PyObject* convert(MatType const& mat)
+ static PyObject* convert(MatType const & mat)
{
typedef typename MatType::Scalar T;
+ typedef typename MatType::Scalar Scalar;
assert( (mat.rows()<INT_MAX) && (mat.cols()<INT_MAX)
&& "Matrix range larger than int ... should never happen." );
const int R = (int)mat.rows(), C = (int)mat.cols();
PyArrayObject* pyArray;
- if(C == 1 && NumpyType::getType() == ARRAY_TYPE)
+ // Allocate Python memory
+ if(C == 1 && NumpyType::getType() == ARRAY_TYPE) // Handle array with a single dimension
{
npy_intp shape[1] = { R };
pyArray = (PyArrayObject*) PyArray_SimpleNew(1, shape,
- NumpyEquivalentType<T>::type_code);
+ NumpyEquivalentType<Scalar>::type_code);
}
else
{
npy_intp shape[2] = { R,C };
pyArray = (PyArrayObject*) PyArray_SimpleNew(2, shape,
- NumpyEquivalentType<T>::type_code);
+ NumpyEquivalentType<Scalar>::type_code);
}
+ // Allocate memory
EigenObjectAllocator<MatType>::convert(mat,pyArray);
+
+ // Create an instance (either np.array or np.matrix)
return NumpyType::getInstance().make(pyArray).ptr();
}
};
@@ -395,7 +402,7 @@ namespace eigenpy
return pyObj;
}
- // Convert obj_ptr into an Eigen::Vector
+ /// \brief Allocate memory and copy pyObj in the new storage
static void construct(PyObject* pyObj,
bp::converter::rvalue_from_python_stage1_data* memory)
{
--
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