From 9d26d65d4a17f107b3073598310f0bee86b47d3e Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 18 Jul 2019 14:29:55 +0200
Subject: [PATCH] core: improve efficiency of memory mapping from Eigen to
Python
---
include/eigenpy/details.hpp | 22 ++++++++++++++++++++--
1 file changed, 20 insertions(+), 2 deletions(-)
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index 92df398a..73f87f5f 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -18,7 +18,6 @@
#define GET_PY_ARRAY_TYPE(array) PyArray_ObjectType(reinterpret_cast<PyObject *>(array), 0)
-
namespace eigenpy
{
template <typename SCALAR> struct NumpyEquivalentType {};
@@ -160,19 +159,38 @@ namespace eigenpy
*mat_ptr = MapNumpy<MatType,double>::map(pyArray).template cast<Scalar>();
}
- static void convert(Type const & mat , PyArrayObject * pyArray)
+ /// \brief Copy mat into the Python array using Eigen::Map
+ static void convert(Type const & mat, PyArrayObject * pyArray)
{
+ if(NumpyEquivalentType<Scalar>::type_code == GET_PY_ARRAY_TYPE(pyArray))
+ {
+ MapNumpy<MatType,Scalar>::map(pyArray) = mat; // no cast needed
+ return;
+ }
+
if(GET_PY_ARRAY_TYPE(pyArray) == NPY_INT)
+ {
MapNumpy<MatType,int>::map(pyArray) = mat.template cast<int>();
+ return;
+ }
if(GET_PY_ARRAY_TYPE(pyArray) == NPY_LONG)
+ {
MapNumpy<MatType,long>::map(pyArray) = mat.template cast<long>();
+ return;
+ }
if(GET_PY_ARRAY_TYPE(pyArray) == NPY_FLOAT)
+ {
MapNumpy<MatType,float>::map(pyArray) = mat.template cast<float>();
+ return;
+ }
if(GET_PY_ARRAY_TYPE(pyArray) == NPY_DOUBLE)
+ {
MapNumpy<MatType,double>::map(pyArray) = mat.template cast<double>();
+ return;
+ }
}
};
--
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