diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index 0c017db76ccc681cbeae345a365dd7d80b87a81d..d32ec38f37e8f63287c6139326efb2e51e61a4c7 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -17,95 +17,6 @@
#include "eigenpy/map.hpp"
#include "eigenpy/exception.hpp"
-namespace boost { namespace python { namespace detail {
-
- template<class MatType>
- struct referent_size<Eigen::MatrixBase<MatType>&>
- {
- BOOST_STATIC_CONSTANT(
- std::size_t, value = sizeof(MatType));
- };
-
- template<class MatType>
- struct referent_size<Eigen::EigenBase<MatType>&>
- {
- BOOST_STATIC_CONSTANT(
- std::size_t, value = sizeof(MatType));
- };
-
-}}}
-
-namespace boost { namespace python { namespace converter {
-
-template<class MatType>
-struct implicit<Eigen::MatrixBase<MatType>,MatType>
-{
- typedef Eigen::MatrixBase<MatType> Source;
- typedef MatType Target;
-
- static void* convertible(PyObject* obj)
- {
- // Find a converter which can produce a Source instance from
- // obj. The user has told us that Source can be converted to
- // Target, and instantiating construct() below, ensures that
- // at compile-time.
- return implicit_rvalue_convertible_from_python(obj, registered<Source>::converters)
- ? obj : 0;
- }
-
- static void construct(PyObject* obj, rvalue_from_python_stage1_data* data)
- {
- void* storage = ((rvalue_from_python_storage<Target>*)data)->storage.bytes;
-
- arg_from_python<Source> get_source(obj);
- bool convertible = get_source.convertible();
- BOOST_VERIFY(convertible);
-
- new (storage) Target(get_source().derived());
-
- // record successful construction
- data->convertible = storage;
- }
-};
-
-template<class MatType>
-struct implicit<MatType,Eigen::MatrixBase<MatType> >
-{
- typedef MatType Source;
- typedef Eigen::MatrixBase<MatType> Target;
-
- static void* convertible(PyObject* obj)
- {
- // Find a converter which can produce a Source instance from
- // obj. The user has told us that Source can be converted to
- // Target, and instantiating construct() below, ensures that
- // at compile-time.
- return implicit_rvalue_convertible_from_python(obj, registered<Source>::converters)
- ? obj : 0;
- }
-
- static void construct(PyObject* obj, rvalue_from_python_stage1_data* data)
- {
- void* storage = reinterpret_cast<rvalue_from_python_storage<Target>*>
- (reinterpret_cast<void*>(data))->storage.bytes;
-
- arg_from_python<Source> get_source(obj);
- bool convertible = get_source.convertible();
- BOOST_VERIFY(convertible);
-
- new (storage) Source(get_source());
-
- // record successful construction
- data->convertible = storage;
- }
-};
-
-template<class MatType>
-struct implicit<MatType,Eigen::EigenBase<MatType> > : implicit<MatType,Eigen::MatrixBase<MatType> >
-{};
-
-}}} // namespace boost::python::converter
-
#define GET_PY_ARRAY_TYPE(array) PyArray_ObjectType(reinterpret_cast<PyObject *>(array), 0)
namespace eigenpy
@@ -692,12 +603,39 @@ namespace eigenpy
// Add also conversion to Eigen::MatrixBase<MatType>
typedef Eigen::MatrixBase<MatType> MatrixBase;
-// bp::implicitly_convertible<MatTypeBase,MatType>();
- bp::implicitly_convertible<MatType,MatrixBase>();
-
+ EigenFromPy<MatrixBase>::registration();
+
// Add also conversion to Eigen::EigenBase<MatType>
typedef Eigen::EigenBase<MatType> EigenBase;
- bp::implicitly_convertible<MatType,EigenBase>();
+ EigenFromPy<EigenBase>::registration();
+ }
+ };
+
+ template<typename MatType>
+ struct EigenFromPy< Eigen::MatrixBase<MatType> > : EigenFromPy<MatType>
+ {
+ typedef EigenFromPy<MatType> EigenFromPyDerived;
+ typedef Eigen::MatrixBase<MatType> Base;
+
+ static void registration()
+ {
+ bp::converter::registry::push_back
+ (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
+ &EigenFromPy::construct,bp::type_id<Base>());
+ }
+ };
+
+ template<typename MatType>
+ struct EigenFromPy< Eigen::EigenBase<MatType> > : EigenFromPy<MatType>
+ {
+ typedef EigenFromPy<MatType> EigenFromPyDerived;
+ typedef Eigen::EigenBase<MatType> Base;
+
+ static void registration()
+ {
+ bp::converter::registry::push_back
+ (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
+ &EigenFromPy::construct,bp::type_id<Base>());
}
};
diff --git a/include/eigenpy/utils/is-approx.hpp b/include/eigenpy/utils/is-approx.hpp
index 2c1d24f24c2cb5c36f975491faf6a81a6ed92cb3..7f82ffde1144abe694c414ecda119baff4a7fc9c 100644
--- a/include/eigenpy/utils/is-approx.hpp
+++ b/include/eigenpy/utils/is-approx.hpp
@@ -10,11 +10,17 @@
namespace eigenpy
{
template<typename MatrixType1, typename MatrixType2>
- inline bool is_approx(const Eigen::MatrixBase<MatrixType1> & mat1,
- const Eigen::MatrixBase<MatrixType2> & mat2,
- const typename MatrixType1::Scalar & prec = Eigen::NumTraits<typename MatrixType1::Scalar>::dummy_precision())
+ inline EIGEN_DONT_INLINE bool is_approx(const MatrixType1 & mat1,
+ const MatrixType2 & mat2,
+ const typename MatrixType1::Scalar & prec)
{
- return mat1.isApprox(mat2,prec);
+ return mat1.derived().isApprox(mat2.derived(),prec);
+ }
+
+ template<typename MatrixType1, typename MatrixType2>
+ inline bool is_approx(const MatrixType1 & mat1, const MatrixType2 & mat2)
+ {
+ return is_approx(mat1,mat2,Eigen::NumTraits<typename MatrixType1::Scalar>::dummy_precision());
}
}
diff --git a/package.xml b/package.xml
index 7fcf4a1cfd0139690fe5486c3fec4359073975eb..230a90152afb9eebe2459c239e4b7988b974410d 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>eigenpy</name>
- <version>1.6.13</version>
+ <version>2.0.0</version>
<description>Bindings between Numpy and Eigen using Boost.Python</description>
<maintainer email="justin.carpentier@inria.fr">Justin Carpentier</maintainer>
<maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
diff --git a/python/main.cpp b/python/main.cpp
index be7237392cdc48df9ce97f5c96eb4e427909cd96..925d9cff88ef03738582bcc3b1920056ecdace1b 100644
--- a/python/main.cpp
+++ b/python/main.cpp
@@ -17,24 +17,8 @@
#include <boost/python/scope.hpp>
-#define DEFINE_IS_APPROX(MatType) \
- BOOST_PYTHON_FUNCTION_OVERLOADS(is_approx_overload##MatType,eigenpy::is_approx,2,3)
-
-#define EXPOSE_IS_APPROX(MatType) \
- bp::def("is_approx", \
- (bool (*)(const Eigen::MatrixBase<MatType> &, \
- const Eigen::MatrixBase<MatType> &, \
- const MatType::Scalar &))eigenpy::is_approx<MatType,MatType>, \
- is_approx_overload##MatType(bp::args("A","B","prec"), \
- "Returns True if A is approximately equal to B, within the precision determined by prec."))
-
-
using namespace eigenpy;
-DEFINE_IS_APPROX(MatrixXd)
-DEFINE_IS_APPROX(MatrixXf)
-
-
BOOST_PYTHON_MODULE(eigenpy)
{
namespace bp = boost::python;
@@ -62,8 +46,15 @@ BOOST_PYTHON_MODULE(eigenpy)
{
using namespace Eigen;
- EXPOSE_IS_APPROX(MatrixXd);
- EXPOSE_IS_APPROX(MatrixXf);
+ bp::def("is_approx",(bool (*)(const MatrixXd &, const MatrixXd &, const double &))&is_approx<MatrixXd,MatrixXd>,
+ bp::args("A","B","prec"),
+ "Returns True if A is approximately equal to B, within the precision determined by prec.");
+ bp::def("is_approx",(bool (*)(const MatrixXd &, const MatrixXd &))&is_approx<MatrixXd,MatrixXd>,
+ bp::args("A","B"),
+ "Returns True if A is approximately equal to B..");
+
+// EXPOSE_IS_APPROX(MatrixXd);
+// EXPOSE_IS_APPROX(MatrixXf);
}
exposeDecompositions();