From 97d8d5cd82c96b2e4d9e9b990ec9f0e49b0f1038 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 18 Jul 2018 19:46:21 +0200
Subject: [PATCH] [Conversion] Register Eigen::MatrixBase
---
include/eigenpy/details.hpp | 38 +++++++++++++++++++++++++++++--------
1 file changed, 30 insertions(+), 8 deletions(-)
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index dfaef06f..2d77adef 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -183,13 +183,6 @@ namespace eigenpy
template<typename MatType>
struct EigenFromPy
{
- EigenFromPy()
- {
- bp::converter::registry::push_back
- (reinterpret_cast<void *(*)(_object *)>(&convertible),
- &construct,bp::type_id<MatType>());
- }
-
// Determine if obj_ptr can be converted in a Eigenvec
static void* convertible(PyArrayObject* obj_ptr)
{
@@ -330,6 +323,34 @@ namespace eigenpy
enableEigenPySpecific<MatType>();
}
+ template<typename MatType>
+ struct EigenFromPyConverter
+ {
+ static void registration()
+ {
+ bp::converter::registry::push_back
+ (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy<MatType>::convertible),
+ &EigenFromPy<MatType>::construct,bp::type_id<MatType>());
+
+ // Add also conversion to Eigen::MatrixBase<MatType>
+ bp::converter::registry::push_back
+ (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy<MatType>::convertible),
+ &EigenFromPy<MatType>::construct,bp::type_id< Eigen::MatrixBase<MatType> >());
+ }
+ };
+
+ template<typename MatType>
+ struct EigenFromPyConverter< eigenpy::Ref<MatType> >
+ {
+ static void registration()
+ {
+ bp::converter::registry::push_back
+ (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy<MatType>::convertible),
+ &EigenFromPy<MatType>::construct,bp::type_id<MatType>());
+ }
+ };
+
+
template<typename MatType>
void enableEigenPySpecific()
{
@@ -337,7 +358,8 @@ namespace eigenpy
if(check_registration<MatType>()) return;
bp::to_python_converter<MatType,EigenToPy<MatType> >();
- EigenFromPy<MatType>();
+ EigenFromPyConverter<MatType>::registration();
+
}
} // namespace eigenpy
--
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