From b95cb9bcb9037c4cffddeb84a6c6c828e6184438 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Fri, 21 Feb 2020 19:40:08 +0100
Subject: [PATCH] core: add NumpyAllocator
---
CMakeLists.txt | 3 +-
include/eigenpy/numpy-allocator.hpp | 76 +++++++++++++++++++++++++++++
2 files changed, 78 insertions(+), 1 deletion(-)
create mode 100644 include/eigenpy/numpy-allocator.hpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8497bbb5..d65f9d58 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -113,8 +113,9 @@ SET(${PROJECT_NAME}_HEADERS
include/eigenpy/geometry.hpp
include/eigenpy/geometry-conversion.hpp
include/eigenpy/memory.hpp
- include/eigenpy/numpy-type.hpp
include/eigenpy/numpy.hpp
+ include/eigenpy/numpy-allocator.hpp
+ include/eigenpy/numpy-type.hpp
include/eigenpy/registration.hpp
include/eigenpy/angle-axis.hpp
include/eigenpy/quaternion.hpp
diff --git a/include/eigenpy/numpy-allocator.hpp b/include/eigenpy/numpy-allocator.hpp
new file mode 100644
index 00000000..b44b1c21
--- /dev/null
+++ b/include/eigenpy/numpy-allocator.hpp
@@ -0,0 +1,76 @@
+/*
+ * Copyright 2020 INRIA
+ */
+
+#ifndef __eigenpy_numpy_allocator_hpp__
+#define __eigenpy_numpy_allocator_hpp__
+
+#include "eigenpy/fwd.hpp"
+#include "eigenpy/numpy-type.hpp"
+#include "eigenpy/eigen-allocator.hpp"
+
+namespace eigenpy
+{
+ template<typename MatType>
+ struct NumpyAllocator
+ {
+ template<typename SimilarMatrixType>
+ static PyArrayObject * allocate(const Eigen::MatrixBase<SimilarMatrixType> & mat,
+ npy_intp nd, npy_intp * shape)
+ {
+ typedef typename SimilarMatrixType::Scalar Scalar;
+
+ PyArrayObject * pyArray = (PyArrayObject*) PyArray_SimpleNew(nd, shape,
+ NumpyEquivalentType<Scalar>::type_code);
+
+ // Copy data
+ EigenAllocator<SimilarMatrixType>::copy(mat,pyArray);
+
+ return pyArray;
+ }
+ };
+
+ template<typename MatType>
+ struct NumpyAllocator<MatType &>
+ {
+ template<typename SimilarMatrixType>
+ static PyArrayObject * allocate(Eigen::PlainObjectBase<SimilarMatrixType> & mat,
+ npy_intp nd, npy_intp * shape)
+ {
+ typedef typename SimilarMatrixType::Scalar Scalar;
+ enum { NPY_ARRAY_MEMORY_CONTIGUOUS = SimilarMatrixType::IsRowMajor ? NPY_ARRAY_CARRAY : NPY_ARRAY_FARRAY };
+
+ PyArrayObject * pyArray = (PyArrayObject*) PyArray_New(&PyArray_Type, nd, shape,
+ NumpyEquivalentType<Scalar>::type_code, NULL,
+ mat.data(), 0,
+ NPY_ARRAY_MEMORY_CONTIGUOUS | NPY_ARRAY_ALIGNED,
+ NULL);
+
+
+ return pyArray;
+ }
+ };
+
+ template<typename MatType>
+ struct NumpyAllocator<const MatType &>
+ {
+ template<typename SimilarMatrixType>
+ static PyArrayObject * allocate(const Eigen::PlainObjectBase<SimilarMatrixType> & mat,
+ npy_intp nd, npy_intp * shape)
+ {
+ typedef typename SimilarMatrixType::Scalar Scalar;
+ enum { NPY_ARRAY_MEMORY_CONTIGUOUS_RO = SimilarMatrixType::IsRowMajor ? NPY_ARRAY_CARRAY_RO : NPY_ARRAY_FARRAY_RO };
+
+ PyArrayObject * pyArray = (PyArrayObject*) PyArray_New(&PyArray_Type, nd, shape,
+ NumpyEquivalentType<Scalar>::type_code, NULL,
+ mat.data(), 0,
+ NPY_ARRAY_MEMORY_CONTIGUOUS_RO | NPY_ARRAY_ALIGNED,
+ NULL);
+
+
+ return pyArray;
+ }
+ };
+}
+
+#endif // ifndef __eigenpy_numpy_allocator_hpp__
--
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