From a9981b174e293ff8bf3b79034436d1bbbd90aa1a Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Wed, 1 Apr 2020 09:41:54 +0200
Subject: [PATCH] core/geometry: specialize converter for Quaternion
---
include/eigenpy/quaternion.hpp | 43 ++++++++++++++++++++++++++++++++++
1 file changed, 43 insertions(+)
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 6635d25d..fd231891 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -12,6 +12,49 @@
#include "eigenpy/exception.hpp"
+namespace boost { namespace python { 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 &>
+ {
+ RVALUE_FROM_PYTHON_DATA_INIT(Quaternion const &)
+ };
+
+ template <class Quaternion>
+ struct implicit<Quaternion, Eigen::QuaternionBase<Quaternion> >
+ {
+ typedef Quaternion Source;
+ typedef Eigen::QuaternionBase<Quaternion> 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) Source(get_source());
+
+ // record successful construction
+ data->convertible = storage;
+ }
+ };
+
+}}} // namespace boost::python::converter
+
namespace eigenpy
{
--
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