diff --git a/include/eigenpy/eigen-from-python.hpp b/include/eigenpy/eigen-from-python.hpp
index 71bfebb983333e2f8724d31e75a462884a172727..f03ae268c7f4d1956d24c4cc06a01a05d6ddbf7a 100644
--- a/include/eigenpy/eigen-from-python.hpp
+++ b/include/eigenpy/eigen-from-python.hpp
@@ -1,14 +1,12 @@
//
-// Copyright (c) 2014-2022 CNRS INRIA
+// Copyright (c) 2014-2023 CNRS INRIA
//
#ifndef __eigenpy_eigen_from_python_hpp__
#define __eigenpy_eigen_from_python_hpp__
-#include <boost/python/converter/rvalue_from_python_data.hpp>
-
-#include "eigenpy/eigen-allocator.hpp"
#include "eigenpy/fwd.hpp"
+#include "eigenpy/eigen-allocator.hpp"
#include "eigenpy/numpy-type.hpp"
#include "eigenpy/scalar-conversion.hpp"
@@ -67,15 +65,9 @@ struct referent_storage_eigen_ref;
template <typename MatType, int Options, typename Stride>
struct referent_storage_eigen_ref {
typedef Eigen::Ref<MatType, Options, Stride> RefType;
-#if BOOST_VERSION / 100 % 1000 >= 77
- typedef typename ::boost::python::detail::aligned_storage<
- ::boost::python::detail::referent_size<RefType &>::value,
- ::boost::alignment_of<RefType &>::value>::type AlignedStorage;
-#else
- typedef ::boost::python::detail::aligned_storage<
- ::boost::python::detail::referent_size<RefType &>::value>
+ typedef typename ::eigenpy::aligned_storage<
+ ::boost::python::detail::referent_size<RefType &>::value>::type
AlignedStorage;
-#endif
referent_storage_eigen_ref()
: pyArray(NULL),
@@ -121,12 +113,8 @@ struct referent_storage<Eigen::Ref<MatType, Options, Stride> &> {
typedef ::eigenpy::details::referent_storage_eigen_ref<MatType, Options,
Stride>
StorageType;
-#if BOOST_VERSION / 100 % 1000 >= 77
- typedef
- typename aligned_storage<referent_size<StorageType &>::value>::type type;
-#else
- typedef aligned_storage<referent_size<StorageType &>::value> type;
-#endif
+ typedef typename ::eigenpy::aligned_storage<
+ referent_size<StorageType &>::value>::type type;
};
template <typename MatType, int Options, typename Stride>
@@ -134,13 +122,8 @@ struct referent_storage<const Eigen::Ref<const MatType, Options, Stride> &> {
typedef ::eigenpy::details::referent_storage_eigen_ref<const MatType, Options,
Stride>
StorageType;
-#if BOOST_VERSION / 100 % 1000 >= 77
- typedef
- typename aligned_storage<referent_size<StorageType &>::value,
- alignment_of<StorageType &>::value>::type type;
-#else
- typedef aligned_storage<referent_size<StorageType &>::value> type;
-#endif
+ typedef typename ::eigenpy::aligned_storage<
+ referent_size<StorageType &>::value>::type type;
};
#endif
} // namespace detail
@@ -151,69 +134,39 @@ namespace boost {
namespace python {
namespace converter {
-template <typename MatrixReference>
-struct rvalue_from_python_data_eigen
- : rvalue_from_python_storage<MatrixReference> {
- typedef MatrixReference T;
-
-#if (!defined(__MWERKS__) || __MWERKS__ >= 0x3000) && \
- (!defined(__EDG_VERSION__) || __EDG_VERSION__ >= 245) && \
- (!defined(__DECCXX_VER) || __DECCXX_VER > 60590014) && \
- !defined(BOOST_PYTHON_SYNOPSIS) /* Synopsis' OpenCXX has trouble parsing \
- this */
- // This must always be a POD struct with m_data its first member.
- BOOST_STATIC_ASSERT(BOOST_PYTHON_OFFSETOF(rvalue_from_python_storage<T>,
- stage1) == 0);
-#endif
-
- // The usual constructor
- rvalue_from_python_data_eigen(rvalue_from_python_stage1_data const &_stage1) {
- this->stage1 = _stage1;
- }
-
- // This constructor just sets m_convertible -- used by
- // implicitly_convertible<> to perform the final step of the
- // conversion, where the construct() function is already known.
- rvalue_from_python_data_eigen(void *convertible) {
- this->stage1.convertible = convertible;
- }
-
- // Destroys any object constructed in the storage.
- ~rvalue_from_python_data_eigen() {
- typedef typename boost::remove_const<
- typename boost::remove_reference<MatrixReference>::type>::type
- MatrixType;
- if (this->stage1.convertible == this->storage.bytes)
- static_cast<MatrixType *>((void *)this->storage.bytes)->~MatrixType();
- }
-};
-
#define EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(type) \
- typedef rvalue_from_python_data_eigen<type> Base; \
+ typedef ::eigenpy::rvalue_from_python_data<type> Base; \
\
rvalue_from_python_data(rvalue_from_python_stage1_data const &_stage1) \
: Base(_stage1) {} \
\
rvalue_from_python_data(void *convertible) : Base(convertible){};
-/// \brief Template specialization of rvalue_from_python_data
+template <typename Scalar, int Rows, int Cols, int Options, int MaxRows,
+ int MaxCols>
+struct rvalue_from_python_data<
+ Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> const &>
+ : ::eigenpy::rvalue_from_python_data<Eigen::Matrix<
+ Scalar, Rows, Cols, Options, MaxRows, MaxCols> const &> {
+ typedef Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> T;
+ EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(T const &)
+};
+
template <typename Derived>
struct rvalue_from_python_data<Eigen::MatrixBase<Derived> const &>
- : rvalue_from_python_data_eigen<Derived const &> {
+ : ::eigenpy::rvalue_from_python_data<Derived const &> {
EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(Derived const &)
};
-/// \brief Template specialization of rvalue_from_python_data
template <typename Derived>
struct rvalue_from_python_data<Eigen::EigenBase<Derived> const &>
- : rvalue_from_python_data_eigen<Derived const &> {
+ : ::eigenpy::rvalue_from_python_data<Derived const &> {
EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(Derived const &)
};
-/// \brief Template specialization of rvalue_from_python_data
template <typename Derived>
struct rvalue_from_python_data<Eigen::PlainObjectBase<Derived> const &>
- : rvalue_from_python_data_eigen<Derived const &> {
+ : ::eigenpy::rvalue_from_python_data<Derived const &> {
EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(Derived const &)
};
diff --git a/include/eigenpy/eigen-to-python.hpp b/include/eigenpy/eigen-to-python.hpp
index 5c6f5838ac29bb689eb1ef93e252efb401b9aec7..6472ff6c7939f9c7f1eb842ec8a0feb31468a564 100644
--- a/include/eigenpy/eigen-to-python.hpp
+++ b/include/eigenpy/eigen-to-python.hpp
@@ -7,8 +7,9 @@
#include <boost/type_traits.hpp>
-#include "eigenpy/eigen-allocator.hpp"
#include "eigenpy/fwd.hpp"
+
+#include "eigenpy/eigen-allocator.hpp"
#include "eigenpy/numpy-allocator.hpp"
#include "eigenpy/numpy-type.hpp"
diff --git a/include/eigenpy/eigenpy.hpp b/include/eigenpy/eigenpy.hpp
index 015b9f2cf77fa5d2089bcd39ba204b55dcc7a64f..57657466f113084004a159eaf018b62209f30304 100644
--- a/include/eigenpy/eigenpy.hpp
+++ b/include/eigenpy/eigenpy.hpp
@@ -6,9 +6,9 @@
#ifndef __eigenpy_eigenpy_hpp__
#define __eigenpy_eigenpy_hpp__
+#include "eigenpy/fwd.hpp"
#include "eigenpy/deprecated.hpp"
#include "eigenpy/eigen-typedef.hpp"
-#include "eigenpy/fwd.hpp"
#define ENABLE_SPECIFIC_MATRIX_TYPE(TYPE) \
::eigenpy::enableEigenPySpecific<TYPE>();
diff --git a/include/eigenpy/fwd.hpp b/include/eigenpy/fwd.hpp
index 9017c96153aa669c4725973ec4aa8e2b3396b6a6..0e2c54c736aafccc60f035cf125521276a7afab3 100644
--- a/include/eigenpy/fwd.hpp
+++ b/include/eigenpy/fwd.hpp
@@ -21,6 +21,7 @@
#undef BOOST_BIND_GLOBAL_PLACEHOLDERS
#include <Eigen/Core>
+#include <Eigen/Geometry>
#if EIGEN_VERSION_AT_LEAST(3, 2, 90)
#define EIGENPY_DEFAULT_ALIGNMENT_VALUE Eigen::Aligned16
diff --git a/include/eigenpy/geometry-conversion.hpp b/include/eigenpy/geometry-conversion.hpp
index f2dcbbabc28007fad8bf7625fd028ed60b06bdbe..37b583fd7e03d7911280d0cd456db3950f4ecffa 100644
--- a/include/eigenpy/geometry-conversion.hpp
+++ b/include/eigenpy/geometry-conversion.hpp
@@ -1,13 +1,11 @@
/*
* Copyright 2014-2019, CNRS
- * Copyright 2018-2021, INRIA
+ * Copyright 2018-2023, INRIA
*/
#ifndef __eigenpy_geometry_conversion_hpp__
#define __eigenpy_geometry_conversion_hpp__
-#include <Eigen/Geometry>
-
#include "eigenpy/fwd.hpp"
namespace eigenpy {
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 88f899db18bb49c829998424a6c87dbb6507371d..241eefec9e8021022ade16512525af9562539eb0 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -1,15 +1,13 @@
/*
- * Copyright 2014-2022 CNRS INRIA
+ * Copyright 2014-2023 CNRS INRIA
*/
#ifndef __eigenpy_quaternion_hpp__
#define __eigenpy_quaternion_hpp__
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-
#include "eigenpy/eigenpy.hpp"
#include "eigenpy/exception.hpp"
+#include "eigenpy/eigen-from-python.hpp"
namespace boost {
namespace python {
@@ -18,7 +16,7 @@ namespace converter {
/// \brief Template specialization of rvalue_from_python_data
template <typename Quaternion>
struct rvalue_from_python_data<Eigen::QuaternionBase<Quaternion> const&>
- : rvalue_from_python_data_eigen<Quaternion const&> {
+ : ::eigenpy::rvalue_from_python_data<Quaternion const&> {
EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(Quaternion const&)
};