diff --git a/cmake b/cmake
index ab4c798680d0a3ba4e84d3b7f25cc42d336eca1b..b58bd669f6567662eefb8a410e8e40aeba4f1060 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit ab4c798680d0a3ba4e84d3b7f25cc42d336eca1b
+Subproject commit b58bd669f6567662eefb8a410e8e40aeba4f1060
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index b3841a7e197c4db08826274f370eeb84cb259bc4..1979b64f7c1fa0b5a146ff0dc9c4a140cec88108 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -24,7 +24,7 @@ namespace eigenpy
template <typename SCALAR> struct NumpyEquivalentType {};
template <> struct NumpyEquivalentType<double> { enum { type_code = NPY_DOUBLE };};
template <> struct NumpyEquivalentType<int> { enum { type_code = NPY_INT };};
- template <> struct NumpyEquivalentType<long> { enum { type_code = NPY_LONG };};
+ template <> struct NumpyEquivalentType<long> { enum { type_code = NPY_LONG };};
template <> struct NumpyEquivalentType<float> { enum { type_code = NPY_FLOAT };};
template <typename SCALAR1, typename SCALAR2>
@@ -181,8 +181,8 @@ namespace eigenpy
/// \brief Copy mat into the Python array using Eigen::Map
template<typename MatrixDerived>
- static void convert(const Eigen::MatrixBase<MatrixDerived> & mat_,
- PyArrayObject * pyArray)
+ static void copy(const Eigen::MatrixBase<MatrixDerived> & mat_,
+ PyArrayObject * pyArray)
{
const MatrixDerived & mat = const_cast<const MatrixDerived &>(mat_.derived());
@@ -231,9 +231,9 @@ namespace eigenpy
new (storage) Type(numpyMap);
}
- static void convert(Type const & mat, PyArrayObject * pyArray)
+ static void copy(Type const & mat, PyArrayObject * pyArray)
{
- EigenObjectAllocator<MatType>::convert(mat,pyArray);
+ EigenObjectAllocator<MatType>::copy(mat,pyArray);
}
};
#endif
@@ -266,7 +266,7 @@ namespace eigenpy
}
// Allocate memory
- EigenObjectAllocator<MatType>::convert(mat,pyArray);
+ EigenObjectAllocator<MatType>::copy(mat,pyArray);
// Create an instance (either np.array or np.matrix)
return NumpyType::getInstance().make(pyArray).ptr();
@@ -279,18 +279,18 @@ namespace eigenpy
struct EigenFromPy
{
/// \brief Determine if pyObj can be converted into a MatType object
- static void* convertible(PyArrayObject* pyObj)
+ static void* convertible(PyArrayObject* pyArray)
{
- if (!PyArray_Check(pyObj))
+ if(!PyArray_Check(pyArray))
return 0;
if(MatType::IsVectorAtCompileTime)
{
// Special care of scalar matrix of dimension 1x1.
- if(PyArray_DIMS(pyObj)[0] == 1 && PyArray_DIMS(pyObj)[1] == 1)
- return pyObj;
+ if(PyArray_DIMS(pyArray)[0] == 1 && PyArray_DIMS(pyArray)[1] == 1)
+ return pyArray;
- if(PyArray_DIMS(pyObj)[0] > 1 && PyArray_DIMS(pyObj)[1] > 1)
+ if(PyArray_DIMS(pyArray)[0] > 1 && PyArray_DIMS(pyArray)[1] > 1)
{
#ifndef NDEBUG
std::cerr << "The number of dimension of the object does not correspond to a vector" << std::endl;
@@ -298,8 +298,8 @@ namespace eigenpy
return 0;
}
- if(((PyArray_DIMS(pyObj)[0] == 1) && (MatType::ColsAtCompileTime == 1))
- || ((PyArray_DIMS(pyObj)[1] == 1) && (MatType::RowsAtCompileTime == 1)))
+ if(((PyArray_DIMS(pyArray)[0] == 1) && (MatType::ColsAtCompileTime == 1))
+ || ((PyArray_DIMS(pyArray)[1] == 1) && (MatType::RowsAtCompileTime == 1)))
{
#ifndef NDEBUG
if(MatType::ColsAtCompileTime == 1)
@@ -311,9 +311,9 @@ namespace eigenpy
}
}
- if (PyArray_NDIM(pyObj) != 2)
+ if(PyArray_NDIM(pyArray) != 2)
{
- if ( (PyArray_NDIM(pyObj) !=1) || (! MatType::IsVectorAtCompileTime) )
+ if ( (PyArray_NDIM(pyArray) !=1) || (! MatType::IsVectorAtCompileTime) )
{
#ifndef NDEBUG
std::cerr << "The number of dimension of the object is not correct." << std::endl;
@@ -322,10 +322,10 @@ namespace eigenpy
}
}
- if (PyArray_NDIM(pyObj) == 2)
+ if(PyArray_NDIM(pyArray) == 2)
{
- const int R = (int)PyArray_DIMS(pyObj)[0];
- const int C = (int)PyArray_DIMS(pyObj)[1];
+ const int R = (int)PyArray_DIMS(pyArray)[0];
+ const int C = (int)PyArray_DIMS(pyArray)[1];
if( (MatType::RowsAtCompileTime!=R)
&& (MatType::RowsAtCompileTime!=Eigen::Dynamic) )
@@ -336,7 +336,7 @@ namespace eigenpy
}
// Check if the Scalar type of the obj_ptr is compatible with the Scalar type of MatType
- if ((PyArray_ObjectType(reinterpret_cast<PyObject *>(pyObj), 0)) == NPY_INT)
+ if(GET_PY_ARRAY_TYPE(pyArray) == NPY_INT)
{
if(!FromTypeToType<int,typename MatType::Scalar>::value)
{
@@ -346,7 +346,7 @@ namespace eigenpy
return 0;
}
}
- else if ((PyArray_ObjectType(reinterpret_cast<PyObject *>(pyObj), 0)) == NPY_LONG)
+ else if(GET_PY_ARRAY_TYPE(pyArray) == NPY_LONG)
{
if(!FromTypeToType<long,typename MatType::Scalar>::value)
{
@@ -356,7 +356,7 @@ namespace eigenpy
return 0;
}
}
- else if ((PyArray_ObjectType(reinterpret_cast<PyObject *>(pyObj), 0)) == NPY_FLOAT)
+ else if(GET_PY_ARRAY_TYPE(pyArray) == NPY_FLOAT)
{
if(!FromTypeToType<float,typename MatType::Scalar>::value)
{
@@ -366,7 +366,7 @@ namespace eigenpy
return 0;
}
}
- else if ((PyArray_ObjectType(reinterpret_cast<PyObject *>(pyObj), 0)) == NPY_DOUBLE)
+ else if(GET_PY_ARRAY_TYPE(pyArray) == NPY_DOUBLE)
{
if(!FromTypeToType<double,typename MatType::Scalar>::value)
{
@@ -376,8 +376,7 @@ namespace eigenpy
return 0;
}
}
- else if ((PyArray_ObjectType(reinterpret_cast<PyObject *>(pyObj), 0))
- != NumpyEquivalentType<typename MatType::Scalar>::type_code)
+ else if(GET_PY_ARRAY_TYPE(pyArray) != NumpyEquivalentType<typename MatType::Scalar>::type_code)
{
#ifndef NDEBUG
std::cerr << "The internal type as no Eigen equivalent." << std::endl;
@@ -387,9 +386,9 @@ namespace eigenpy
}
#ifdef NPY_1_8_API_VERSION
- if (!(PyArray_FLAGS(pyObj)))
+ if(!(PyArray_FLAGS(pyArray)))
#else
- if (!(PyArray_FLAGS(obj_ptr) & NPY_ALIGNED))
+ if(!(PyArray_FLAGS(pyArray) & NPY_ALIGNED))
#endif
{
#ifndef NDEBUG
@@ -398,7 +397,7 @@ namespace eigenpy
return 0;
}
- return pyObj;
+ return pyArray;
}
/// \brief Allocate memory and copy pyObj in the new storage
diff --git a/include/eigenpy/stride.hpp b/include/eigenpy/stride.hpp
index 11010f0a3506808ba1f4439b7de771f9e3dbcb1f..ab43349bf76647b8a14c1ecf1a9669f9b760eead 100644
--- a/include/eigenpy/stride.hpp
+++ b/include/eigenpy/stride.hpp
@@ -10,14 +10,14 @@
namespace eigenpy
{
- template<typename MatType, int IsVectorAtCompileTime = MatType::IsVectorAtCompileTime>
+ template<typename MatType, bool IsVectorAtCompileTime = MatType::IsVectorAtCompileTime>
struct StrideType
{
typedef Eigen::Stride<Eigen::Dynamic,Eigen::Dynamic> type;
};
template<typename MatType>
- struct StrideType<MatType,1>
+ struct StrideType<MatType,true>
{
typedef Eigen::InnerStride<Eigen::Dynamic> type;
};