Merge pull request #180 from jcarpent/devel

Fix destruction of objects 

cmake @ a5c65a0e

-Subproject commit d1340a9e0340c443e5e8841c7ab4a0997f989e59
+Subproject commit a5c65a0ee51191be3f2e2667b95830706c211bb2

include/eigenpy/angle-axis.hpp

 /*
- * Copyright 2014-2019, CNRS
- * Copyright 2018-2019, INRIA
+ * Copyright 2014-2020 CNRS INRIA
  */
 
 #ifndef __eigenpy_angle_axis_hpp__
 #define __eigenpy_angle_axis_hpp__
 
-#include "eigenpy/fwd.hpp"
+#include "eigenpy/eigenpy.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>

include/eigenpy/decompositions/EigenSolver.hpp

@@ -5,7 +5,8 @@
 #ifndef __eigenpy_decomposition_eigen_solver_hpp__
 #define __eigenpy_decomposition_eigen_solver_hpp__
 
-#include <boost/python.hpp>
+#include "eigenpy/eigenpy.hpp"
+
 #include <Eigen/Core>
 #include <Eigen/Eigenvalues>
 

include/eigenpy/decompositions/LDLT.hpp

@@ -5,7 +5,8 @@
 #ifndef __eigenpy_decomposition_ldlt_hpp__
 #define __eigenpy_decomposition_ldlt_hpp__
 
-#include <boost/python.hpp>
+#include "eigenpy/eigenpy.hpp"
+
 #include <Eigen/Core>
 #include <Eigen/Cholesky>
 

include/eigenpy/decompositions/LLT.hpp

@@ -5,7 +5,8 @@
 #ifndef __eigenpy_decomposition_llt_hpp__
 #define __eigenpy_decomposition_llt_hpp__
 
-#include <boost/python.hpp>
+#include "eigenpy/eigenpy.hpp"
+
 #include <Eigen/Core>
 #include <Eigen/Cholesky>
 

include/eigenpy/decompositions/SelfAdjointEigenSolver.hpp

@@ -5,7 +5,8 @@
 #ifndef __eigenpy_decomposition_self_adjoint_eigen_solver_hpp__
 #define __eigenpy_decomposition_self_adjoint_eigen_solver_hpp__
 
-#include <boost/python.hpp>
+#include "eigenpy/eigenpy.hpp"
+
 #include <Eigen/Core>
 #include <Eigen/Eigenvalues>
 

include/eigenpy/eigen-from-python.hpp

@@ -148,7 +148,7 @@ namespace boost { namespace python { namespace converter {
     }
   };
 
-#define RVALUE_FROM_PYTHON_DATA_INIT(type)                                 \
+#define EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(type)                                 \
   typedef rvalue_from_python_data_eigen<type> Base;                        \
                                                                            \
   rvalue_from_python_data(rvalue_from_python_stage1_data const & _stage1)  \
@@ -162,7 +162,7 @@ namespace boost { namespace python { namespace converter {
   struct rvalue_from_python_data<Eigen::MatrixBase<Derived> const &>
   : rvalue_from_python_data_eigen<Derived const &>
   {
-    RVALUE_FROM_PYTHON_DATA_INIT(Derived const &)
+    EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(Derived const &)
   };
 
   /// \brief Template specialization of rvalue_from_python_data
@@ -170,11 +170,9 @@ namespace boost { namespace python { namespace converter {
   struct rvalue_from_python_data<Eigen::EigenBase<Derived> const &>
   : rvalue_from_python_data_eigen<Derived const &>
   {
-    RVALUE_FROM_PYTHON_DATA_INIT(Derived const &)
+    EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(Derived const &)
   };
 
-#undef RVALUE_FROM_PYTHON_DATA_INIT
-
   template<typename MatType, int Options, typename Stride>
   struct rvalue_from_python_data<Eigen::Ref<MatType,Options,Stride> &>
   : rvalue_from_python_storage<Eigen::Ref<MatType,Options,Stride> &>

include/eigenpy/quaternion.hpp

 /*
- * Copyright 2014-2019, CNRS
- * Copyright 2018-2019, INRIA
+ * Copyright 2014-2020 CNRS INRIA
  */
 
 #ifndef __eigenpy_quaternion_hpp__
 #define __eigenpy_quaternion_hpp__
 
-#include "eigenpy/fwd.hpp"
+#include "eigenpy/eigenpy.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
 #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 &>
+  {
+    EIGENPY_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
 {
 
@@ -267,7 +309,7 @@ namespace eigenpy
       
       // Cast to Eigen::QuaternionBase and vice-versa
       bp::implicitly_convertible<Quaternion,QuaternionBase >();
-      bp::implicitly_convertible<QuaternionBase,Quaternion >();
+//      bp::implicitly_convertible<QuaternionBase,Quaternion >();
     }
 
   };