From c76bbd205fc2fe7bf61619dfbb109608dd9da076 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 18 Jul 2019 17:52:38 +0200
Subject: [PATCH] core: change the way ti expose Eigen::MatrixBase<Derived>
---
include/eigenpy/details.hpp | 33 ++++++++++++++++++++++++++++++---
1 file changed, 30 insertions(+), 3 deletions(-)
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index e502467c..3c52d662 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -425,6 +425,33 @@ namespace eigenpy
}
};
+ template<typename MatType>
+ struct EigenFromPy< Eigen::MatrixBase<MatType> >
+ {
+ typedef EigenFromPy<MatType> EigenFromPyDerived;
+ typedef Eigen::MatrixBase<MatType> Base;
+
+ /// \brief Determine if pyObj can be converted into a MatType object
+ static void* convertible(PyArrayObject* pyObj)
+ {
+ std::cout << "call: EigenFromPy< Eigen::MatrixBase<MatType> >::convertible" << std::endl;
+ return EigenFromPyDerived::convertible(pyObj);
+ }
+
+ /// \brief Allocate memory and copy pyObj in the new storage
+ static void construct(PyObject* pyObj,
+ bp::converter::rvalue_from_python_stage1_data* memory)
+ {
+ std::cout << "call: EigenFromPy< Eigen::MatrixBase<MatType> >::construct" << std::endl;
+ EigenFromPyDerived::construct(pyObj,memory);
+ }
+
+ static void registration()
+ {
+ bp::converter::registry::push_back
+ (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
+ &EigenFromPy::construct,bp::type_id<Base>());
+ }
};
#define numpy_import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); } }
@@ -441,10 +468,10 @@ namespace eigenpy
static void registration()
{
EigenFromPy<MatType>::registration();
+
// Add also conversion to Eigen::MatrixBase<MatType>
- bp::converter::registry::push_back
- (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy<MatType>::convertible),
- &EigenFromPy<MatType>::construct,bp::type_id< Eigen::MatrixBase<MatType> >());
+ typedef Eigen::MatrixBase<MatType> MatTypeBase;
+ EigenFromPy<MatTypeBase>::registration();
}
};
--
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