diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6925e0a8c9aacee8139da345c43023a9f09847b9..77d90c82455d05119b97d69ca758f508995d8d6c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -150,6 +150,7 @@ SET(${PROJECT_NAME}_SOURCES
src/exception.cpp
src/eigenpy.cpp
src/numpy.cpp
+ src/numpy-type.cpp
src/matrix-float.cpp
src/matrix-complex-float.cpp
src/matrix-complex-double.cpp
diff --git a/include/eigenpy/numpy-type.hpp b/include/eigenpy/numpy-type.hpp
index 1da922b2b378b30172f71bac452abb78ef15847c..cf262c2f58b9decbff768edd22a9c6235747f810 100644
--- a/include/eigenpy/numpy-type.hpp
+++ b/include/eigenpy/numpy-type.hpp
@@ -8,7 +8,6 @@
#include "eigenpy/fwd.hpp"
#include "eigenpy/scalar-conversion.hpp"
-#include <patchlevel.h> // For PY_MAJOR_VERSION
#include <stdexcept>
#include <typeinfo>
#include <sstream>
@@ -76,118 +75,39 @@ namespace eigenpy
struct NumpyType
{
- static NumpyType & getInstance()
- {
- static NumpyType instance;
- return instance;
- }
+ static NumpyType & getInstance();
operator bp::object () { return getInstance().CurrentNumpyType; }
- static bp::object make(PyArrayObject* pyArray, bool copy = false)
- { return make((PyObject*)pyArray,copy); }
+ static bp::object make(PyArrayObject* pyArray, bool copy = false);
- static bp::object make(PyObject* pyObj, bool copy = false)
- {
- bp::object m;
- if(isMatrix())
- m = getInstance().NumpyMatrixObject(bp::object(bp::handle<>(pyObj)), bp::object(), copy);
-// m = NumpyAsMatrixObject(bp::object(bp::handle<>(pyObj)));
- else if(isArray())
- m = bp::object(bp::handle<>(pyObj)); // nothing to do here
-
- Py_INCREF(m.ptr());
- return m;
- }
+ static bp::object make(PyObject* pyObj, bool copy = false);
- static void setNumpyType(bp::object & obj)
- {
- PyTypeObject * obj_type = PyType_Check(obj.ptr()) ? reinterpret_cast<PyTypeObject*>(obj.ptr()) : obj.ptr()->ob_type;
- if(PyType_IsSubtype(obj_type,getInstance().NumpyMatrixType))
- switchToNumpyMatrix();
- else if(PyType_IsSubtype(obj_type,getInstance().NumpyArrayType))
- switchToNumpyArray();
- }
+ static void setNumpyType(bp::object & obj);
- static void sharedMemory(const bool value)
- {
- getInstance().shared_memory = value;
- }
+ static void sharedMemory(const bool value);
- static bool sharedMemory()
- {
- return getInstance().shared_memory;
- }
+ static bool sharedMemory();
- static void switchToNumpyArray()
- {
- getInstance().CurrentNumpyType = getInstance().NumpyArrayObject;
- getInstance().getType() = ARRAY_TYPE;
- }
+ static void switchToNumpyArray();
- static void switchToNumpyMatrix()
- {
- getInstance().CurrentNumpyType = getInstance().NumpyMatrixObject;
- getInstance().getType() = MATRIX_TYPE;
- }
+ static void switchToNumpyMatrix();
- static NP_TYPE & getType()
- {
- return getInstance().np_type;
- }
+ static NP_TYPE & getType();
- static bp::object getNumpyType()
- {
- return getInstance().CurrentNumpyType;
- }
+ static bp::object getNumpyType();
- static const PyTypeObject * getNumpyMatrixType()
- {
- return getInstance().NumpyMatrixType;
- }
+ static const PyTypeObject * getNumpyMatrixType();
- static const PyTypeObject * getNumpyArrayType()
- {
- return getInstance().NumpyArrayType;
- }
+ static const PyTypeObject * getNumpyArrayType();
- static bool isMatrix()
- {
- return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
- getInstance().NumpyMatrixType);
- }
+ static bool isMatrix();
- static bool isArray()
- {
- if(getInstance().isMatrix()) return false;
- return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
- getInstance().NumpyArrayType);
- }
+ static bool isArray();
protected:
- NumpyType()
- {
- pyModule = bp::import("numpy");
-
-#if PY_MAJOR_VERSION >= 3
- // TODO I don't know why this Py_INCREF is necessary.
- // Without it, the destructor of NumpyType SEGV sometimes.
- Py_INCREF(pyModule.ptr());
-#endif
-
- NumpyMatrixObject = pyModule.attr("matrix");
- NumpyMatrixType = reinterpret_cast<PyTypeObject*>(NumpyMatrixObject.ptr());
- NumpyArrayObject = pyModule.attr("ndarray");
- NumpyArrayType = reinterpret_cast<PyTypeObject*>(NumpyArrayObject.ptr());
- //NumpyAsMatrixObject = pyModule.attr("asmatrix");
- //NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());
-
- CurrentNumpyType = NumpyArrayObject; // default conversion
- np_type = ARRAY_TYPE;
-
- shared_memory = true;
- }
+ NumpyType();
bp::object CurrentNumpyType;
bp::object pyModule;
diff --git a/src/numpy-type.cpp b/src/numpy-type.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cd235f01217b628e4bc337bafc17e33fe9b35d42
--- /dev/null
+++ b/src/numpy-type.cpp
@@ -0,0 +1,121 @@
+/*
+ * Copyright 2018-2020 INRIA
+*/
+
+#include "eigenpy/numpy-type.hpp"
+
+#include <patchlevel.h> // For PY_MAJOR_VERSION
+
+namespace eigenpy
+{
+ namespace bp = boost::python;
+
+ NumpyType & NumpyType::getInstance()
+ {
+ static NumpyType instance;
+ return instance;
+ }
+
+ bp::object NumpyType::make(PyArrayObject* pyArray, bool copy)
+ { return make((PyObject*)pyArray,copy); }
+
+ bp::object NumpyType::make(PyObject* pyObj, bool copy)
+ {
+ bp::object m;
+ if(isMatrix())
+ m = getInstance().NumpyMatrixObject(bp::object(bp::handle<>(pyObj)), bp::object(), copy);
+// m = NumpyAsMatrixObject(bp::object(bp::handle<>(pyObj)));
+ else if(isArray())
+ m = bp::object(bp::handle<>(pyObj)); // nothing to do here
+
+ Py_INCREF(m.ptr());
+ return m;
+ }
+
+ void NumpyType::setNumpyType(bp::object & obj)
+ {
+ PyTypeObject * obj_type = PyType_Check(obj.ptr()) ? reinterpret_cast<PyTypeObject*>(obj.ptr()) : obj.ptr()->ob_type;
+ if(PyType_IsSubtype(obj_type,getInstance().NumpyMatrixType))
+ switchToNumpyMatrix();
+ else if(PyType_IsSubtype(obj_type,getInstance().NumpyArrayType))
+ switchToNumpyArray();
+ }
+
+ void NumpyType::sharedMemory(const bool value)
+ {
+ getInstance().shared_memory = value;
+ }
+
+ bool NumpyType::sharedMemory()
+ {
+ return getInstance().shared_memory;
+ }
+
+ void NumpyType::switchToNumpyArray()
+ {
+ getInstance().CurrentNumpyType = getInstance().NumpyArrayObject;
+ getInstance().getType() = ARRAY_TYPE;
+ }
+
+ void NumpyType::switchToNumpyMatrix()
+ {
+ getInstance().CurrentNumpyType = getInstance().NumpyMatrixObject;
+ getInstance().getType() = MATRIX_TYPE;
+ }
+
+ NP_TYPE & NumpyType::getType()
+ {
+ return getInstance().np_type;
+ }
+
+ bp::object NumpyType::getNumpyType()
+ {
+ return getInstance().CurrentNumpyType;
+ }
+
+ const PyTypeObject * NumpyType::getNumpyMatrixType()
+ {
+ return getInstance().NumpyMatrixType;
+ }
+
+ const PyTypeObject * NumpyType::getNumpyArrayType()
+ {
+ return getInstance().NumpyArrayType;
+ }
+
+ bool NumpyType::isMatrix()
+ {
+ return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
+ getInstance().NumpyMatrixType);
+ }
+
+ bool NumpyType::isArray()
+ {
+ if(getInstance().isMatrix()) return false;
+ return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
+ getInstance().NumpyArrayType);
+ }
+
+ NumpyType::NumpyType()
+ {
+ pyModule = bp::import("numpy");
+
+#if PY_MAJOR_VERSION >= 3
+ // TODO I don't know why this Py_INCREF is necessary.
+ // Without it, the destructor of NumpyType SEGV sometimes.
+ Py_INCREF(pyModule.ptr());
+#endif
+
+ NumpyMatrixObject = pyModule.attr("matrix");
+ NumpyMatrixType = reinterpret_cast<PyTypeObject*>(NumpyMatrixObject.ptr());
+ NumpyArrayObject = pyModule.attr("ndarray");
+ NumpyArrayType = reinterpret_cast<PyTypeObject*>(NumpyArrayObject.ptr());
+ //NumpyAsMatrixObject = pyModule.attr("asmatrix");
+ //NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());
+
+ CurrentNumpyType = NumpyArrayObject; // default conversion
+ np_type = ARRAY_TYPE;
+
+ shared_memory = true;
+ }
+}