From cd6e8a48b8b8f58a103d7cffa34f7c1096acf594 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Tue, 16 Sep 2014 09:41:45 +0200
Subject: [PATCH] Convertion from Eigen to Numpy::Matrix.
---
python/test_unit.py | 8 ++++----
src/eigenpy.hpp | 36 ++++++++++++++++++++++++++----------
2 files changed, 30 insertions(+), 14 deletions(-)
diff --git a/python/test_unit.py b/python/test_unit.py
index bb7b523e..aab786f7 100644
--- a/python/test_unit.py
+++ b/python/test_unit.py
@@ -5,7 +5,7 @@ verbose = False
if verbose: print "===> From MatrixXd to Py"
M = eigenpy.naturals(3,3,verbose)
-Mcheck = np.reshape(np.array(range(9),np.double),[3,3])
+Mcheck = np.reshape(np.matrix(range(9),np.double),[3,3])
assert np.array_equal(Mcheck,M)
if verbose: print "===> From Matrix3d to Py"
@@ -14,13 +14,13 @@ assert np.array_equal(Mcheck,M33)
if verbose: print "===> From VectorXd to Py"
v = eigenpy.naturalsX(3,verbose)
-vcheck = np.array([range(3),],np.double).T
+vcheck = np.matrix([range(3),],np.double).T
assert np.array_equal(vcheck ,v)
if verbose: print "===> From Py to Eigen::MatrixXd"
if verbose: print "===> From Py to Eigen::MatrixXd"
if verbose: print "===> From Py to Eigen::MatrixXd"
-Mref = np.reshape(np.array(range(64),np.double),[8,8])
+Mref = np.reshape(np.matrix(range(64),np.double),[8,8])
if verbose: print "===> Matrix 8x8"
M = Mref
@@ -68,7 +68,7 @@ if verbose: print "===> From Py to Eigen::VectorXd"
if verbose: print "===> Block Vector 0:6:2x1 1 dim"
M = Mref[0:6:2,1].T
-assert( np.array_equal(np.array([M,]).T,eigenpy.reflexV(M,verbose)) );
+assert( np.array_equal(M.T,eigenpy.reflexV(M,verbose)) );
if verbose: print "===> Block Vector 0:6:2x1"
M = Mref[0:6:2,1:2]
diff --git a/src/eigenpy.hpp b/src/eigenpy.hpp
index 60dfdd01..873af25f 100644
--- a/src/eigenpy.hpp
+++ b/src/eigenpy.hpp
@@ -42,6 +42,31 @@ namespace eigenpy
template <> struct NumpyEquivalentType<int> { enum { type_code = NPY_INT };};
template <> struct NumpyEquivalentType<float> { enum { type_code = NPY_FLOAT };};
+ struct PyMatrixType
+ {
+ boost::python::object pyMatrixType;
+ boost::python::object pyModule;
+
+ PyMatrixType()
+ {
+ pyModule = boost::python::import("numpy");
+ pyMatrixType = pyModule.attr("matrix");
+ }
+ operator boost::python::object () { return pyMatrixType; }
+
+ boost::python::object make(PyArrayObject* pyArray, bool copy = false)
+ { return make((PyObject*)pyArray,copy); }
+ boost::python::object make(PyObject* pyObj, bool copy = false)
+ {
+ boost::python::object m
+ = pyMatrixType( boost::python::object(boost::python::handle<>(pyObj)),
+ boost::python::object(), copy );
+ Py_INCREF(m.ptr());
+ return m;
+ }
+ };
+
+ static PyMatrixType pyMatrixType = PyMatrixType();
/* --- TO PYTHON -------------------------------------------------------------- */
template< typename MatType,typename EquivalentEigenType >
@@ -60,15 +85,7 @@ namespace eigenpy
MapNumpy<EquivalentEigenType>::map(pyArray) = mat;
-
- boost::python::object pyModule = boost::python::import("numpy");
- boost::python::object pyMatrixType = pyModule.attr("matrix");
-
- boost::python::object m
- = pyMatrixType( boost::python::object(boost::python::handle<>((PyObject*)pyArray)),
- boost::python::object(), true );
- Py_INCREF(m.ptr());
- return m.ptr();
+ return pyMatrixType.make(pyArray).ptr();
}
};
@@ -198,5 +215,4 @@ namespace eigenpy
}
-
} // namespace eigenpy
--
GitLab