include/eigenpy/numpy-type.hpp

 /*
- * Copyright 2018-2020 INRIA
+ * Copyright 2018-2023 INRIA
  */
 
 #ifndef __eigenpy_numpy_type_hpp__
@@ -17,17 +17,54 @@ namespace eigenpy {
 
 template <typename Scalar>
 bool np_type_is_convertible_into_scalar(const int np_type) {
-  if (static_cast<NPY_TYPES>(NumpyEquivalentType<Scalar>::type_code) >=
-      NPY_USERDEF)
+  const auto scalar_np_code =
+      static_cast<NPY_TYPES>(NumpyEquivalentType<Scalar>::type_code);
+
+  if (scalar_np_code >= NPY_USERDEF)
     return np_type == Register::getTypeCode<Scalar>();
 
-  if (NumpyEquivalentType<Scalar>::type_code == np_type) return true;
+  if (scalar_np_code == np_type) return true;
 
+  // Manage type promotion
   switch (np_type) {
+    case NPY_BOOL:
+      return FromTypeToType<bool, Scalar>::value;
+    case NPY_INT8:
+      return FromTypeToType<int8_t, Scalar>::value;
+    case NPY_INT16:
+      return FromTypeToType<int16_t, Scalar>::value;
+    case NPY_INT32:
+      return FromTypeToType<int32_t, Scalar>::value;
+    case NPY_INT64:
+      return FromTypeToType<int64_t, Scalar>::value;
+    case NPY_UINT8:
+      return FromTypeToType<uint8_t, Scalar>::value;
+    case NPY_UINT16:
+      return FromTypeToType<uint16_t, Scalar>::value;
+    case NPY_UINT32:
+      return FromTypeToType<uint32_t, Scalar>::value;
+    case NPY_UINT64:
+      return FromTypeToType<uint64_t, Scalar>::value;
+
+#if defined _WIN32 || defined __CYGWIN__
+    // Manage NPY_INT on Windows (NPY_INT32 is NPY_LONG).
+    // See https://github.com/stack-of-tasks/eigenpy/pull/455
     case NPY_INT:
-      return FromTypeToType<int, Scalar>::value;
-    case NPY_LONG:
-      return FromTypeToType<long, Scalar>::value;
+      return FromTypeToType<int32_t, Scalar>::value;
+    case NPY_UINT:
+      return FromTypeToType<uint32_t, Scalar>::value;
+#endif  // WIN32
+
+#if defined __APPLE__
+    // Manage NPY_LONGLONG on Mac (NPY_INT64 is NPY_LONG)..
+    // long long and long are both the same type
+    // but NPY_LONGLONG and NPY_LONG are different dtype.
+    // See https://github.com/stack-of-tasks/eigenpy/pull/455
+    case NPY_LONGLONG:
+      return FromTypeToType<int64_t, Scalar>::value;
+    case NPY_ULONGLONG:
+      return FromTypeToType<uint64_t, Scalar>::value;
+#endif  // MAC
     case NPY_FLOAT:
       return FromTypeToType<float, Scalar>::value;
     case NPY_CFLOAT:
@@ -45,54 +82,28 @@ bool np_type_is_convertible_into_scalar(const int np_type) {
   }
 }
 
-enum NP_TYPE { MATRIX_TYPE, ARRAY_TYPE };
-
 struct EIGENPY_DLLAPI NumpyType {
   static NumpyType& getInstance();
 
-  operator bp::object() { return getInstance().CurrentNumpyType; }
-
   static bp::object make(PyArrayObject* pyArray, bool copy = false);
 
   static bp::object make(PyObject* pyObj, bool copy = false);
 
-  static void setNumpyType(bp::object& obj);
-
   static void sharedMemory(const bool value);
 
   static bool sharedMemory();
 
-  static void switchToNumpyArray();
-
-  static void switchToNumpyMatrix();
-
-  static NP_TYPE& getType();
-
-  static bp::object getNumpyType();
-
-  static const PyTypeObject* getNumpyMatrixType();
-
   static const PyTypeObject* getNumpyArrayType();
 
-  static bool isMatrix();
-
-  static bool isArray();
-
  protected:
   NumpyType();
 
-  bp::object CurrentNumpyType;
   bp::object pyModule;
 
   // Numpy types
-  bp::object NumpyMatrixObject;
-  PyTypeObject* NumpyMatrixType;
-  // bp::object NumpyAsMatrixObject; PyTypeObject * NumpyAsMatrixType;
   bp::object NumpyArrayObject;
   PyTypeObject* NumpyArrayType;
 
-  NP_TYPE np_type;
-
   bool shared_memory;
 };
 }  // namespace eigenpy

include/eigenpy/numpy.hpp

 /*
- * Copyright 2020-2022 INRIA
+ * Copyright 2020-2024 INRIA
  */
 
 #ifndef __eigenpy_numpy_hpp__
 #define __eigenpy_numpy_hpp__
 
-#include "eigenpy/fwd.hpp"
+#include "eigenpy/config.hpp"
 
 #ifndef PY_ARRAY_UNIQUE_SYMBOL
 #define PY_ARRAY_UNIQUE_SYMBOL EIGENPY_ARRAY_API
 #endif
 
+// For compatibility with Numpy 2.x. See:
+// https://numpy.org/devdocs/reference/c-api/array.html#c.NPY_API_SYMBOL_ATTRIBUTE
+#define NPY_API_SYMBOL_ATTRIBUTE EIGENPY_DLLAPI
+
+// When building with MSVC, Python headers use some pragma operator to link
+// against the Python DLL.
+// Unfortunately, it can link against the wrong build type of the library
+// leading to some linking issue.
+// Boost::Python provides a helper specifically dedicated to selecting the right
+// Python library depending on build type, so let's make use of it.
+// Numpy headers drags Python with them. As a result, it
+// is necessary to include this helper before including Numpy.
+// See: https://github.com/stack-of-tasks/eigenpy/pull/514
+#include <boost/python/detail/wrap_python.hpp>
+
 #include <numpy/numpyconfig.h>
 #ifdef NPY_1_8_API_VERSION
 #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
 #endif
 
+// Allow compiling against NumPy 1.x and 2.x. See:
+// https://github.com/numpy/numpy/blob/afea8fd66f6bdbde855f5aff0b4e73eb0213c646/doc/source/reference/c-api/array.rst#L1224
+#if NPY_ABI_VERSION < 0x02000000
+#define PyArray_DescrProto PyArray_Descr
+#endif
+
 #include <numpy/ndarrayobject.h>
 #include <numpy/ufuncobject.h>
 
+#if NPY_ABI_VERSION < 0x02000000
+static inline PyArray_ArrFuncs* PyDataType_GetArrFuncs(PyArray_Descr* descr) {
+  return descr->f;
+}
+#endif
+
+/* PEP 674 disallow using macros as l-values
+   see : https://peps.python.org/pep-0674/
+*/
+#if PY_VERSION_HEX < 0x030900A4 && !defined(Py_SET_TYPE)
+static inline void _Py_SET_TYPE(PyObject* o, PyTypeObject* type) {
+  Py_TYPE(o) = type;
+}
+#define Py_SET_TYPE(o, type) _Py_SET_TYPE((PyObject*)(o), type)
+#endif
+
 #if defined _WIN32 || defined __CYGWIN__
 #define EIGENPY_GET_PY_ARRAY_TYPE(array) \
   call_PyArray_MinScalarType(array)->type_num
@@ -26,68 +63,140 @@
 #define EIGENPY_GET_PY_ARRAY_TYPE(array) PyArray_MinScalarType(array)->type_num
 #endif
 
+#include <complex>
+
 namespace eigenpy {
 void EIGENPY_DLLAPI import_numpy();
 int EIGENPY_DLLAPI PyArray_TypeNum(PyTypeObject* type);
 
 // By default, the Scalar is considered as a Python object
-template <typename Scalar>
+template <typename Scalar, typename Enable = void>
 struct NumpyEquivalentType {
   enum { type_code = NPY_USERDEF };
 };
 
 template <>
-struct NumpyEquivalentType<float> {
-  enum { type_code = NPY_FLOAT };
+struct NumpyEquivalentType<bool> {
+  enum { type_code = NPY_BOOL };
 };
+
 template <>
-struct NumpyEquivalentType<std::complex<float> > {
-  enum { type_code = NPY_CFLOAT };
+struct NumpyEquivalentType<char> {
+  enum { type_code = NPY_INT8 };
 };
 template <>
-struct NumpyEquivalentType<double> {
-  enum { type_code = NPY_DOUBLE };
+struct NumpyEquivalentType<unsigned char> {
+  enum { type_code = NPY_UINT8 };
 };
 template <>
-struct NumpyEquivalentType<std::complex<double> > {
-  enum { type_code = NPY_CDOUBLE };
+struct NumpyEquivalentType<int8_t> {
+  enum { type_code = NPY_INT8 };
 };
+
 template <>
-struct NumpyEquivalentType<long double> {
-  enum { type_code = NPY_LONGDOUBLE };
+struct NumpyEquivalentType<int16_t> {
+  enum { type_code = NPY_INT16 };
 };
 template <>
-struct NumpyEquivalentType<std::complex<long double> > {
-  enum { type_code = NPY_CLONGDOUBLE };
+struct NumpyEquivalentType<uint16_t> {
+  enum { type_code = NPY_UINT16 };
 };
+
 template <>
-struct NumpyEquivalentType<bool> {
-  enum { type_code = NPY_BOOL };
+struct NumpyEquivalentType<int32_t> {
+  enum { type_code = NPY_INT32 };
+};
+template <>
+struct NumpyEquivalentType<uint32_t> {
+  enum { type_code = NPY_UINT32 };
+};
+
+// On Windows, long is a 32 bytes type but it's a different type than int
+// See https://github.com/stack-of-tasks/eigenpy/pull/455
+#if defined _WIN32 || defined __CYGWIN__
+
+template <>
+struct NumpyEquivalentType<long> {
+  enum { type_code = NPY_INT32 };
+};
+template <>
+struct NumpyEquivalentType<unsigned long> {
+  enum { type_code = NPY_UINT32 };
 };
+
+#endif  // WIN32
+
 template <>
-struct NumpyEquivalentType<int> {
-  enum { type_code = NPY_INT };
+struct NumpyEquivalentType<int64_t> {
+  enum { type_code = NPY_INT64 };
 };
 template <>
-struct NumpyEquivalentType<unsigned int> {
-  enum { type_code = NPY_UINT };
+struct NumpyEquivalentType<uint64_t> {
+  enum { type_code = NPY_UINT64 };
 };
+
+// On Mac, long is a 64 bytes type but it's a different type than int64_t
+// See https://github.com/stack-of-tasks/eigenpy/pull/455
+#if defined __APPLE__
+
 template <>
 struct NumpyEquivalentType<long> {
-  enum { type_code = NPY_LONG };
+  enum { type_code = NPY_INT64 };
 };
-// #if defined _WIN32 || defined __CYGWIN__
 template <>
-struct NumpyEquivalentType<long long> {
+struct NumpyEquivalentType<unsigned long> {
+  enum { type_code = NPY_UINT64 };
+};
+
+#endif  // MAC
+
+// On Linux, long long is a 64 bytes type but it's a different type than int64_t
+// See https://github.com/stack-of-tasks/eigenpy/pull/455
+#if defined __linux__
+
+#include <type_traits>
+
+template <typename Scalar>
+struct NumpyEquivalentType<
+    Scalar,
+    typename std::enable_if<!std::is_same<int64_t, long long>::value &&
+                            std::is_same<Scalar, long long>::value>::type> {
   enum { type_code = NPY_LONGLONG };
 };
-// #else
-//   template <> struct NumpyEquivalentType<long long>    { enum { type_code =
-//   NPY_LONGLONG    };};
-// #endif
+template <typename Scalar>
+struct NumpyEquivalentType<
+    Scalar, typename std::enable_if<
+                !std::is_same<uint64_t, unsigned long long>::value &&
+                std::is_same<Scalar, unsigned long long>::value>::type> {
+  enum { type_code = NPY_ULONGLONG };
+};
+
+#endif  // Linux
+
 template <>
-struct NumpyEquivalentType<unsigned long> {
-  enum { type_code = NPY_ULONG };
+struct NumpyEquivalentType<float> {
+  enum { type_code = NPY_FLOAT };
+};
+template <>
+struct NumpyEquivalentType<double> {
+  enum { type_code = NPY_DOUBLE };
+};
+template <>
+struct NumpyEquivalentType<long double> {
+  enum { type_code = NPY_LONGDOUBLE };
+};
+
+template <>
+struct NumpyEquivalentType<std::complex<float> > {
+  enum { type_code = NPY_CFLOAT };
+};
+template <>
+struct NumpyEquivalentType<std::complex<double> > {
+  enum { type_code = NPY_CDOUBLE };
+};
+template <>
+struct NumpyEquivalentType<std::complex<long double> > {
+  enum { type_code = NPY_CLONGDOUBLE };
 };
 
 template <typename Scalar>
@@ -122,7 +231,7 @@ EIGENPY_DLLAPI PyArray_Descr* call_PyArray_DescrFromType(int typenum);
 
 EIGENPY_DLLAPI void call_PyArray_InitArrFuncs(PyArray_ArrFuncs* funcs);
 
-EIGENPY_DLLAPI int call_PyArray_RegisterDataType(PyArray_Descr* dtype);
+EIGENPY_DLLAPI int call_PyArray_RegisterDataType(PyArray_DescrProto* dtype);
 
 EIGENPY_DLLAPI int call_PyArray_RegisterCanCast(PyArray_Descr* descr,
                                                 int totype,
@@ -170,7 +279,7 @@ inline void call_PyArray_InitArrFuncs(PyArray_ArrFuncs* funcs) {
   PyArray_InitArrFuncs(funcs);
 }
 
-inline int call_PyArray_RegisterDataType(PyArray_Descr* dtype) {
+inline int call_PyArray_RegisterDataType(PyArray_DescrProto* dtype) {
   return PyArray_RegisterDataType(dtype);
 }
 

include/eigenpy/optional.hpp

+///
+/// Copyright (c) 2023 CNRS INRIA
+///
+/// Definitions for exposing boost::optional<T> types.
+/// Also works with std::optional.
+
+#ifndef __eigenpy_optional_hpp__
+#define __eigenpy_optional_hpp__
+
+#include "eigenpy/fwd.hpp"
+#include "eigenpy/eigen-from-python.hpp"
+#include "eigenpy/registration.hpp"
+
+#include <boost/optional.hpp>
+#ifdef EIGENPY_WITH_CXX17_SUPPORT
+#include <optional>
+#endif
+
+#ifndef EIGENPY_DEFAULT_OPTIONAL
+#define EIGENPY_DEFAULT_OPTIONAL boost::optional
+#endif
+
+namespace boost {
+namespace python {
+namespace converter {
+
+template <typename T>
+struct expected_pytype_for_arg<boost::optional<T> >
+    : expected_pytype_for_arg<T> {};
+
+#ifdef EIGENPY_WITH_CXX17_SUPPORT
+template <typename T>
+struct expected_pytype_for_arg<std::optional<T> > : expected_pytype_for_arg<T> {
+};
+#endif
+
+}  // namespace converter
+}  // namespace python
+}  // namespace boost
+
+namespace eigenpy {
+
+namespace detail {
+
+/// Helper struct to decide which type is the "none" type for a specific
+/// optional<T> implementation.
+template <template <typename> class OptionalTpl>
+struct nullopt_helper {};
+
+template <>
+struct nullopt_helper<boost::optional> {
+  typedef boost::none_t type;
+  static type value() { return boost::none; }
+};
+
+#ifdef EIGENPY_WITH_CXX17_SUPPORT
+template <>
+struct nullopt_helper<std::optional> {
+  typedef std::nullopt_t type;
+  static type value() { return std::nullopt; }
+};
+#endif
+
+template <typename NoneType>
+struct NoneToPython {
+  static PyObject *convert(const NoneType &) { Py_RETURN_NONE; }
+
+  static void registration() {
+    if (!check_registration<NoneType>()) {
+      bp::to_python_converter<NoneType, NoneToPython, false>();
+    }
+  }
+};
+
+template <typename T,
+          template <typename> class OptionalTpl = EIGENPY_DEFAULT_OPTIONAL>
+struct OptionalToPython {
+  static PyObject *convert(const OptionalTpl<T> &obj) {
+    if (obj)
+      return bp::incref(bp::object(*obj).ptr());
+    else {
+      return bp::incref(bp::object().ptr());  // None
+    }
+  }
+
+  static PyTypeObject const *get_pytype() {
+    return bp::converter::registered_pytype<T>::get_pytype();
+  }
+
+  static void registration() {
+    if (!check_registration<OptionalTpl<T> >()) {
+      bp::to_python_converter<OptionalTpl<T>, OptionalToPython, true>();
+    }
+  }
+};
+
+template <typename T,
+          template <typename> class OptionalTpl = EIGENPY_DEFAULT_OPTIONAL>
+struct OptionalFromPython {
+  static void *convertible(PyObject *obj_ptr);
+
+  static void construct(PyObject *obj_ptr,
+                        bp::converter::rvalue_from_python_stage1_data *memory);
+
+  static void registration();
+};
+
+template <typename T, template <typename> class OptionalTpl>
+void *OptionalFromPython<T, OptionalTpl>::convertible(PyObject *obj_ptr) {
+  if (obj_ptr == Py_None) {
+    return obj_ptr;
+  }
+  bp::extract<T> bp_obj(obj_ptr);
+  if (!bp_obj.check())
+    return 0;
+  else
+    return obj_ptr;
+}
+
+template <typename T, template <typename> class OptionalTpl>
+void OptionalFromPython<T, OptionalTpl>::construct(
+    PyObject *obj_ptr, bp::converter::rvalue_from_python_stage1_data *memory) {
+  // create storage
+  using rvalue_storage_t =
+      bp::converter::rvalue_from_python_storage<OptionalTpl<T> >;
+  void *storage =
+      reinterpret_cast<rvalue_storage_t *>(reinterpret_cast<void *>(memory))
+          ->storage.bytes;
+
+  if (obj_ptr == Py_None) {
+    new (storage) OptionalTpl<T>(nullopt_helper<OptionalTpl>::value());
+  } else {
+    const T value = bp::extract<T>(obj_ptr);
+    new (storage) OptionalTpl<T>(value);
+  }
+
+  memory->convertible = storage;
+}
+
+template <typename T, template <typename> class OptionalTpl>
+void OptionalFromPython<T, OptionalTpl>::registration() {
+  bp::converter::registry::push_back(
+      &convertible, &construct, bp::type_id<OptionalTpl<T> >(),
+      bp::converter::expected_pytype_for_arg<OptionalTpl<T> >::get_pytype);
+}
+
+}  // namespace detail
+
+/// Register converters for the type `optional<T>` to Python.
+/// By default \tparam optional is `EIGENPY_DEFAULT_OPTIONAL`.
+template <typename T,
+          template <typename> class OptionalTpl = EIGENPY_DEFAULT_OPTIONAL>
+struct OptionalConverter {
+  static void registration() {
+    detail::OptionalToPython<T, OptionalTpl>::registration();
+    detail::OptionalFromPython<T, OptionalTpl>::registration();
+  }
+};
+
+}  // namespace eigenpy
+
+#endif  // __eigenpy_optional_hpp__

include/eigenpy/quaternion.hpp

@@ -364,7 +364,8 @@ class QuaternionVisitor
         "'q*v' (rotating 'v' by 'q'), "
         "'q==q', 'q!=q', 'q[0..3]'.",
         bp::no_init)
-        .def(QuaternionVisitor<Quaternion>());
+        .def(QuaternionVisitor<Quaternion>())
+        .def(IdVisitor<Quaternion>());
 
     // Cast to Eigen::QuaternionBase and vice-versa
     bp::implicitly_convertible<Quaternion, QuaternionBase>();

include/eigenpy/register.hpp

@@ -20,6 +20,25 @@ namespace eigenpy {
 struct EIGENPY_DLLAPI Register {
   static PyArray_Descr *getPyArrayDescr(PyTypeObject *py_type_ptr);
 
+  static PyArray_Descr *getPyArrayDescrFromTypeNum(const int type_num);
+
+  template <typename Scalar>
+  static PyArray_Descr *getPyArrayDescrFromScalarType() {
+    if (!isNumpyNativeType<Scalar>()) {
+      const std::type_info &info = typeid(Scalar);
+      if (instance().type_to_py_type_bindings.find(&info) !=
+          instance().type_to_py_type_bindings.end()) {
+        PyTypeObject *py_type = instance().type_to_py_type_bindings[&info];
+        return instance().py_array_descr_bindings[py_type];
+      } else
+        return nullptr;
+    } else {
+      PyArray_Descr *new_descr =
+          call_PyArray_DescrFromType(NumpyEquivalentType<Scalar>::type_code);
+      return new_descr;
+    }
+  }
+
   template <typename Scalar>
   static bool isRegistered() {
     return isRegistered(Register::getPyType<Scalar>());
@@ -87,7 +106,7 @@ struct EIGENPY_DLLAPI Register {
   static Register &instance();
 
  private:
-  Register(){};
+  Register() {};
 
   struct Compare_PyTypeObject {
     bool operator()(const PyTypeObject *a, const PyTypeObject *b) const {

include/eigenpy/registration.hpp

@@ -7,6 +7,7 @@
 #define __eigenpy_registration_hpp__
 
 #include "eigenpy/fwd.hpp"
+#include "eigenpy/registration_class.hpp"
 
 namespace eigenpy {
 
@@ -44,12 +45,33 @@ inline bool register_symbolic_link_to_registered_type() {
     const bp::converter::registration* reg =
         bp::converter::registry::query(info);
     bp::handle<> class_obj(reg->get_class_object());
+    bp::incref(class_obj.get());
     bp::scope().attr(reg->get_class_object()->tp_name) = bp::object(class_obj);
     return true;
   }
 
   return false;
 }
+
+/// Same as \see register_symbolic_link_to_registered_type() but apply \p
+/// visitor on \tparam T if it already exists
+template <typename T, typename Visitor>
+inline bool register_symbolic_link_to_registered_type(const Visitor& visitor) {
+  if (eigenpy::check_registration<T>()) {
+    const bp::type_info info = bp::type_id<T>();
+    const bp::converter::registration* reg =
+        bp::converter::registry::query(info);
+    bp::handle<> class_obj(reg->get_class_object());
+    bp::incref(class_obj.get());
+    bp::object object(class_obj);
+    bp::scope().attr(reg->get_class_object()->tp_name) = object;
+    registration_class<T> cl(object);
+    cl.def(visitor);
+    return true;
+  }
+
+  return false;
+}
 }  // namespace eigenpy
 
 #endif  // ifndef __eigenpy_registration_hpp__

include/eigenpy/registration_class.hpp

+/*
+ * Copyright 2023, INRIA
+ */
+
+#ifndef __eigenpy_registration_class_hpp__
+#define __eigenpy_registration_class_hpp__
+
+#include <boost/python/class.hpp>
+
+#include "eigenpy/fwd.hpp"
+
+namespace eigenpy {
+
+/*! Copy of the \see boost::python::class_
+ * This class allow to add methods to an existing class without registering it
+ * again.
+ **/
+template <class W>
+class registration_class {
+ public:
+  using self = registration_class;
+
+  /// \p object Hold the namespace of the class that will be modified
+  registration_class(bp::object object) : m_object(object) {}
+
+  /// \see boost::python::class_::def(bp::def_visitor<Derived> const& visitor)
+  template <class Visitor>
+  self& def(Visitor const& visitor) {
+    visitor.visit(*this);
+    return *this;
+  }
+
+  template <class DerivedVisitor>
+  self& def(bp::def_visitor<DerivedVisitor> const& visitor) {
+    static_cast<DerivedVisitor const&>(visitor).visit(*this);
+    return *this;
+  }
+
+  /// \see boost::python::class_::def(char const* name, F f)
+  template <class F>
+  self& def(char const* name, F f) {
+    def_impl(bp::detail::unwrap_wrapper((W*)0), name, f,
+             bp::detail::def_helper<char const*>(0), &f);
+    return *this;
+  }
+
+  /// \see boost::python::class_::def(char const* name, A1 a1, A2 const& a2)
+  template <class A1, class A2>
+  self& def(char const* name, A1 a1, A2 const& a2) {
+    def_maybe_overloads(name, a1, a2, &a2);
+    return *this;
+  }
+
+  /// \see boost::python::class_::def(char const* name, Fn fn, A1 const& a1, A2
+  /// const& a2)
+  template <class Fn, class A1, class A2>
+  self& def(char const* name, Fn fn, A1 const& a1, A2 const& a2) {
+    def_impl(bp::detail::unwrap_wrapper((W*)0), name, fn,
+             bp::detail::def_helper<A1, A2>(a1, a2), &fn);
+
+    return *this;
+  }
+
+  /// \see boost::python::class_::def(char const* name, Fn fn, A1 const& a1, A2
+  /// const& a2, A3 const& a3)
+  template <class Fn, class A1, class A2, class A3>
+  self& def(char const* name, Fn fn, A1 const& a1, A2 const& a2, A3 const& a3) {
+    def_impl(bp::detail::unwrap_wrapper((W*)0), name, fn,
+             bp::detail::def_helper<A1, A2, A3>(a1, a2, a3), &fn);
+
+    return *this;
+  }
+
+ private:
+  /// \see boost::python::class_::def_impl(T*, char const* name, Fn fn, Helper
+  /// const& helper, ...)
+  template <class T, class Fn, class Helper>
+  inline void def_impl(T*, char const* name, Fn fn, Helper const& helper, ...) {
+    bp::objects::add_to_namespace(
+        m_object, name,
+        make_function(fn, helper.policies(), helper.keywords(),
+                      bp::detail::get_signature(fn, (T*)0)),
+        helper.doc());
+
+    def_default(name, fn, helper,
+                boost::mpl::bool_<Helper::has_default_implementation>());
+  }
+
+  /// \see boost::python::class_::def_default(char const* name, Fn, Helper
+  /// const& helper, boost::mpl::bool_<true>)
+  template <class Fn, class Helper>
+  inline void def_default(char const* name, Fn, Helper const& helper,
+                          boost::mpl::bool_<true>) {
+    bp::detail::error::virtual_function_default<
+        W, Fn>::must_be_derived_class_member(helper.default_implementation());
+
+    bp::objects::add_to_namespace(
+        m_object, name,
+        make_function(helper.default_implementation(), helper.policies(),
+                      helper.keywords()));
+  }
+
+  /// \see boost::python::class_::def_default(char const*, Fn, Helper const&,
+  /// boost::mpl::bool_<false>)
+  template <class Fn, class Helper>
+  inline void def_default(char const*, Fn, Helper const&,
+                          boost::mpl::bool_<false>) {}
+
+  /// \see boost::python::class_::def_maybe_overloads(char const* name, SigT
+  /// sig,OverloadsT const& overloads,bp::detail::overloads_base const*)
+  template <class OverloadsT, class SigT>
+  void def_maybe_overloads(char const* name, SigT sig,
+                           OverloadsT const& overloads,
+                           bp::detail::overloads_base const*)
+
+  {
+    bp::detail::define_with_defaults(name, overloads, *this,
+                                     bp::detail::get_signature(sig));
+  }
+
+  /// \see boost::python::class_::def_maybe_overloads(char const* name, Fn fn,
+  /// A1 const& a1, ...)
+  template <class Fn, class A1>
+  void def_maybe_overloads(char const* name, Fn fn, A1 const& a1, ...) {
+    def_impl(bp::detail::unwrap_wrapper((W*)0), name, fn,
+             bp::detail::def_helper<A1>(a1), &fn);
+  }
+
+ private:
+  bp::object m_object;
+};
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_registration_class_hpp__

include/eigenpy/scalar-conversion.hpp

 //
-// Copyright (c) 2014-2020 CNRS INRIA
+// Copyright (c) 2014-2024 CNRS INRIA
 //
 
 #ifndef __eigenpy_scalar_conversion_hpp__
 #define __eigenpy_scalar_conversion_hpp__
 
 #include "eigenpy/config.hpp"
+#include <boost/numeric/conversion/conversion_traits.hpp>
+#include <complex>
 
 namespace eigenpy {
-template <typename SCALAR1, typename SCALAR2>
-struct FromTypeToType : public boost::false_type {};
 
-template <typename SCALAR>
-struct FromTypeToType<SCALAR, SCALAR> : public boost::true_type {};
+template <typename Source, typename Target>
+struct FromTypeToType
+    : public boost::mpl::if_c<std::is_same<Source, Target>::value,
+                              std::true_type,
+                              typename boost::numeric::conversion_traits<
+                                  Source, Target>::subranged>::type {};
+
+/// FromTypeToType specialization to manage std::complex
+template <typename ScalarSource, typename ScalarTarget>
+struct FromTypeToType<std::complex<ScalarSource>, std::complex<ScalarTarget> >
+    : public boost::mpl::if_c<
+          std::is_same<ScalarSource, ScalarTarget>::value, std::true_type,
+          typename boost::numeric::conversion_traits<
+              ScalarSource, ScalarTarget>::subranged>::type {};
 
-template <>
-struct FromTypeToType<int, long> : public boost::true_type {};
-template <>
-struct FromTypeToType<int, float> : public boost::true_type {};
-template <>
-struct FromTypeToType<int, std::complex<float> > : public boost::true_type {};
-template <>
-struct FromTypeToType<int, double> : public boost::true_type {};
-template <>
-struct FromTypeToType<int, std::complex<double> > : public boost::true_type {};
-template <>
-struct FromTypeToType<int, long double> : public boost::true_type {};
-template <>
-struct FromTypeToType<int, std::complex<long double> >
-    : public boost::true_type {};
-
-template <>
-struct FromTypeToType<long, float> : public boost::true_type {};
-template <>
-struct FromTypeToType<long, std::complex<float> > : public boost::true_type {};
-template <>
-struct FromTypeToType<long, double> : public boost::true_type {};
-template <>
-struct FromTypeToType<long, std::complex<double> > : public boost::true_type {};
-template <>
-struct FromTypeToType<long, long double> : public boost::true_type {};
-template <>
-struct FromTypeToType<long, std::complex<long double> >
-    : public boost::true_type {};
-
-template <>
-struct FromTypeToType<float, std::complex<float> > : public boost::true_type {};
-template <>
-struct FromTypeToType<float, double> : public boost::true_type {};
-template <>
-struct FromTypeToType<float, std::complex<double> > : public boost::true_type {
-};
-template <>
-struct FromTypeToType<float, long double> : public boost::true_type {};
-template <>
-struct FromTypeToType<float, std::complex<long double> >
-    : public boost::true_type {};
-
-template <>
-struct FromTypeToType<double, std::complex<double> > : public boost::true_type {
-};
-template <>
-struct FromTypeToType<double, long double> : public boost::true_type {};
-template <>
-struct FromTypeToType<double, std::complex<long double> >
-    : public boost::true_type {};
 }  // namespace eigenpy
 
 #endif  // __eigenpy_scalar_conversion_hpp__

include/eigenpy/scipy-allocator.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_scipy_allocator_hpp__
+#define __eigenpy_scipy_allocator_hpp__
+
+#include "eigenpy/fwd.hpp"
+#include "eigenpy/eigen-allocator.hpp"
+#include "eigenpy/scipy-type.hpp"
+#include "eigenpy/register.hpp"
+
+namespace eigenpy {
+
+template <typename EigenType, typename BaseType>
+struct scipy_allocator_impl;
+
+template <typename EigenType>
+struct scipy_allocator_impl_sparse_matrix;
+
+template <typename MatType>
+struct scipy_allocator_impl<
+    MatType,
+    Eigen::SparseMatrixBase<typename remove_const_reference<MatType>::type> >
+    : scipy_allocator_impl_sparse_matrix<MatType> {};
+
+template <typename MatType>
+struct scipy_allocator_impl<
+    const MatType, const Eigen::SparseMatrixBase<
+                       typename remove_const_reference<MatType>::type> >
+    : scipy_allocator_impl_sparse_matrix<const MatType> {};
+
+// template <typename MatType>
+// struct scipy_allocator_impl<MatType &, Eigen::MatrixBase<MatType> > :
+// scipy_allocator_impl_sparse_matrix<MatType &>
+//{};
+
+template <typename MatType>
+struct scipy_allocator_impl<const MatType &,
+                            const Eigen::SparseMatrixBase<MatType> >
+    : scipy_allocator_impl_sparse_matrix<const MatType &> {};
+
+template <typename EigenType,
+          typename BaseType = typename get_eigen_base_type<EigenType>::type>
+struct ScipyAllocator : scipy_allocator_impl<EigenType, BaseType> {};
+
+template <typename MatType>
+struct scipy_allocator_impl_sparse_matrix {
+  template <typename SimilarMatrixType>
+  static PyObject *allocate(
+      const Eigen::SparseCompressedBase<SimilarMatrixType> &mat_,
+      bool copy = false) {
+    EIGENPY_UNUSED_VARIABLE(copy);
+    typedef typename SimilarMatrixType::Scalar Scalar;
+    typedef typename SimilarMatrixType::StorageIndex StorageIndex;
+
+    enum { IsRowMajor = SimilarMatrixType::IsRowMajor };
+
+    typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> DataVector;
+    typedef const Eigen::Map<const DataVector> MapDataVector;
+    typedef Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> StorageIndexVector;
+    typedef Eigen::Matrix<int32_t, Eigen::Dynamic, 1> ScipyStorageIndexVector;
+    typedef const Eigen::Map<const StorageIndexVector> MapStorageIndexVector;
+
+    SimilarMatrixType &mat = mat_.const_cast_derived();
+    bp::object scipy_sparse_matrix_type =
+        ScipyType::get_pytype_object<SimilarMatrixType>();
+
+    MapDataVector data(mat.valuePtr(), mat.nonZeros());
+    MapStorageIndexVector outer_indices(
+        mat.outerIndexPtr(), (IsRowMajor ? mat.rows() : mat.cols()) + 1);
+    MapStorageIndexVector inner_indices(mat.innerIndexPtr(), mat.nonZeros());
+
+    bp::object scipy_sparse_matrix;
+
+    if (mat.rows() == 0 &&
+        mat.cols() == 0)  // handle the specific case of empty matrix
+    {
+      //      PyArray_Descr* npy_type =
+      //      Register::getPyArrayDescrFromScalarType<Scalar>(); bp::dict args;
+      //      args["dtype"] =
+      //      bp::object(bp::handle<>(bp::borrowed(npy_type->typeobj)));
+      //      args["shape"] = bp::object(bp::handle<>(bp::borrowed(Py_None)));
+      //      scipy_sparse_matrix =
+      //      scipy_sparse_matrix_type(*bp::make_tuple(0,0),**args);
+      scipy_sparse_matrix = scipy_sparse_matrix_type(
+          Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>(0, 0));
+    } else if (mat.nonZeros() == 0) {
+      scipy_sparse_matrix =
+          scipy_sparse_matrix_type(bp::make_tuple(mat.rows(), mat.cols()));
+    } else {
+      scipy_sparse_matrix = scipy_sparse_matrix_type(bp::make_tuple(
+          DataVector(data),
+          ScipyStorageIndexVector(inner_indices.template cast<int32_t>()),
+          ScipyStorageIndexVector(
+              outer_indices.template cast<int32_t>())));  //,
+      //                                                              bp::make_tuple(mat.rows(),
+      //                                                              mat.cols())));
+    }
+    Py_INCREF(scipy_sparse_matrix.ptr());
+    return scipy_sparse_matrix.ptr();
+  }
+};
+
+// template <typename MatType>
+// struct scipy_allocator_impl_sparse_matrix<MatType &> {
+//   template <typename SimilarMatrixType>
+//   static PyArrayObject *allocate(Eigen::PlainObjectBase<SimilarMatrixType>
+//   &mat,
+//                                  npy_intp nd, npy_intp *shape) {
+//     typedef typename SimilarMatrixType::Scalar Scalar;
+//     enum {
+//       NPY_ARRAY_MEMORY_CONTIGUOUS =
+//           SimilarMatrixType::IsRowMajor ? NPY_ARRAY_CARRAY : NPY_ARRAY_FARRAY
+//     };
+//
+//     if (NumpyType::sharedMemory()) {
+//       const int Scalar_type_code = Register::getTypeCode<Scalar>();
+//       PyArrayObject *pyArray = (PyArrayObject *)call_PyArray_New(
+//           getPyArrayType(), static_cast<int>(nd), shape, Scalar_type_code,
+//           mat.data(), NPY_ARRAY_MEMORY_CONTIGUOUS | NPY_ARRAY_ALIGNED);
+//
+//       return pyArray;
+//     } else {
+//       return NumpyAllocator<MatType>::allocate(mat, nd, shape);
+//     }
+//   }
+// };
+
+#if EIGEN_VERSION_AT_LEAST(3, 2, 0)
+
+// template <typename MatType, int Options, typename Stride>
+// struct scipy_allocator_impl_sparse_matrix<Eigen::Ref<MatType, Options,
+// Stride> > {
+//   typedef Eigen::Ref<MatType, Options, Stride> RefType;
+//
+//   static PyArrayObject *allocate(RefType &mat, npy_intp nd, npy_intp *shape)
+//   {
+//     typedef typename RefType::Scalar Scalar;
+//     enum {
+//       NPY_ARRAY_MEMORY_CONTIGUOUS =
+//           RefType::IsRowMajor ? NPY_ARRAY_CARRAY : NPY_ARRAY_FARRAY
+//     };
+//
+//     if (NumpyType::sharedMemory()) {
+//       const int Scalar_type_code = Register::getTypeCode<Scalar>();
+//       const bool reverse_strides = MatType::IsRowMajor || (mat.rows() == 1);
+//       Eigen::DenseIndex inner_stride = reverse_strides ? mat.outerStride()
+//                                                        : mat.innerStride(),
+//                         outer_stride = reverse_strides ? mat.innerStride()
+//                                                        : mat.outerStride();
+//
+//       const int elsize =
+//       call_PyArray_DescrFromType(Scalar_type_code)->elsize; npy_intp
+//       strides[2] = {elsize * inner_stride, elsize * outer_stride};
+//
+//       PyArrayObject *pyArray = (PyArrayObject *)call_PyArray_New(
+//           getPyArrayType(), static_cast<int>(nd), shape, Scalar_type_code,
+//           strides, mat.data(), NPY_ARRAY_MEMORY_CONTIGUOUS |
+//           NPY_ARRAY_ALIGNED);
+//
+//       return pyArray;
+//     } else {
+//       return NumpyAllocator<MatType>::allocate(mat, nd, shape);
+//     }
+//   }
+// };
+
+#endif
+
+// template <typename MatType>
+// struct scipy_allocator_impl_sparse_matrix<const MatType &> {
+//   template <typename SimilarMatrixType>
+//   static PyArrayObject *allocate(
+//       const Eigen::PlainObjectBase<SimilarMatrixType> &mat, npy_intp nd,
+//       npy_intp *shape) {
+//     typedef typename SimilarMatrixType::Scalar Scalar;
+//     enum {
+//       NPY_ARRAY_MEMORY_CONTIGUOUS_RO = SimilarMatrixType::IsRowMajor
+//                                            ? NPY_ARRAY_CARRAY_RO
+//                                            : NPY_ARRAY_FARRAY_RO
+//     };
+//
+//     if (NumpyType::sharedMemory()) {
+//       const int Scalar_type_code = Register::getTypeCode<Scalar>();
+//       PyArrayObject *pyArray = (PyArrayObject *)call_PyArray_New(
+//           getPyArrayType(), static_cast<int>(nd), shape, Scalar_type_code,
+//           const_cast<Scalar *>(mat.data()),
+//           NPY_ARRAY_MEMORY_CONTIGUOUS_RO | NPY_ARRAY_ALIGNED);
+//
+//       return pyArray;
+//     } else {
+//       return NumpyAllocator<MatType>::allocate(mat, nd, shape);
+//     }
+//   }
+// };
+
+#if EIGEN_VERSION_AT_LEAST(3, 2, 0)
+
+// template <typename MatType, int Options, typename Stride>
+// struct scipy_allocator_impl_sparse_matrix<
+//     const Eigen::Ref<const MatType, Options, Stride> > {
+//   typedef const Eigen::Ref<const MatType, Options, Stride> RefType;
+//
+//   static PyArrayObject *allocate(RefType &mat, npy_intp nd, npy_intp *shape)
+//   {
+//     typedef typename RefType::Scalar Scalar;
+//     enum {
+//       NPY_ARRAY_MEMORY_CONTIGUOUS_RO =
+//           RefType::IsRowMajor ? NPY_ARRAY_CARRAY_RO : NPY_ARRAY_FARRAY_RO
+//     };
+//
+//     if (NumpyType::sharedMemory()) {
+//       const int Scalar_type_code = Register::getTypeCode<Scalar>();
+//
+//       const bool reverse_strides = MatType::IsRowMajor || (mat.rows() == 1);
+//       Eigen::DenseIndex inner_stride = reverse_strides ? mat.outerStride()
+//                                                        : mat.innerStride(),
+//                         outer_stride = reverse_strides ? mat.innerStride()
+//                                                        : mat.outerStride();
+//
+//       const int elsize =
+//       call_PyArray_DescrFromType(Scalar_type_code)->elsize; npy_intp
+//       strides[2] = {elsize * inner_stride, elsize * outer_stride};
+//
+//       PyArrayObject *pyArray = (PyArrayObject *)call_PyArray_New(
+//           getPyArrayType(), static_cast<int>(nd), shape, Scalar_type_code,
+//           strides, const_cast<Scalar *>(mat.data()),
+//           NPY_ARRAY_MEMORY_CONTIGUOUS_RO | NPY_ARRAY_ALIGNED);
+//
+//       return pyArray;
+//     } else {
+//       return NumpyAllocator<MatType>::allocate(mat, nd, shape);
+//     }
+//   }
+// };
+
+#endif
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_scipy_allocator_hpp__

include/eigenpy/scipy-type.hpp

+/*
+ * Copyright 2024 INRIA
+ */
+
+#ifndef __eigenpy_scipy_type_hpp__
+#define __eigenpy_scipy_type_hpp__
+
+#include "eigenpy/fwd.hpp"
+#include "eigenpy/register.hpp"
+#include "eigenpy/scalar-conversion.hpp"
+#include "eigenpy/numpy-type.hpp"
+
+namespace eigenpy {
+
+struct EIGENPY_DLLAPI ScipyType {
+  static ScipyType& getInstance();
+
+  static void sharedMemory(const bool value);
+
+  static bool sharedMemory();
+
+  static bp::object getScipyType();
+
+  static const PyTypeObject* getScipyCSRMatrixType();
+  static const PyTypeObject* getScipyCSCMatrixType();
+
+  template <typename SparseMatrix>
+  static bp::object get_pytype_object(
+      const Eigen::SparseMatrixBase<SparseMatrix>* ptr = nullptr) {
+    EIGENPY_UNUSED_VARIABLE(ptr);
+    return SparseMatrix::IsRowMajor ? getInstance().csr_matrix_obj
+                                    : getInstance().csc_matrix_obj;
+  }
+
+  template <typename SparseMatrix>
+  static PyTypeObject const* get_pytype(
+      const Eigen::SparseMatrixBase<SparseMatrix>* ptr = nullptr) {
+    EIGENPY_UNUSED_VARIABLE(ptr);
+    return SparseMatrix::IsRowMajor ? getInstance().csr_matrix_type
+                                    : getInstance().csc_matrix_type;
+  }
+
+  static int get_numpy_type_num(const bp::object& obj) {
+    const PyTypeObject* type = Py_TYPE(obj.ptr());
+    EIGENPY_USED_VARIABLE_ONLY_IN_DEBUG_MODE(type);
+    assert(type == getInstance().csr_matrix_type ||
+           type == getInstance().csc_matrix_type);
+
+    bp::object dtype = obj.attr("dtype");
+
+    const PyArray_Descr* npy_type =
+        reinterpret_cast<PyArray_Descr*>(dtype.ptr());
+    return npy_type->type_num;
+  }
+
+ protected:
+  ScipyType();
+
+  bp::object sparse_module;
+
+  // SciPy types
+  bp::object csr_matrix_obj, csc_matrix_obj;
+  PyTypeObject *csr_matrix_type, *csc_matrix_type;
+
+  bool shared_memory;
+};
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_scipy_type_hpp__

include/eigenpy/solvers/BFGSPreconditioners.hpp

 /*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
- *
- * This file is part of eigenpy.
- * eigenpy is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * as published by the Free Software Foundation, either version 3 of
- * the License, or (at your option) any later version.
- * eigenpy is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
- * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU Lesser General Public License for more details.  You should
- * have received a copy of the GNU Lesser General Public License along
- * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ * Copyright 2017 CNRS
+ * Copyright 2024 Inria
  */
 
 #ifndef __eigenpy_bfgs_preconditioners_hpp__
@@ -49,6 +38,7 @@ struct BFGSPreconditionerBaseVisitor
 
   static void expose(const std::string& name) {
     bp::class_<Preconditioner>(name, bp::no_init)
+        .def(IdVisitor<Preconditioner>())
         .def(BFGSPreconditionerBaseVisitor<Preconditioner>());
   }
 };
@@ -68,6 +58,7 @@ struct LimitedBFGSPreconditionerBaseVisitor
 
   static void expose(const std::string& name) {
     bp::class_<Preconditioner>(name.c_str(), bp::no_init)
+        .def(IdVisitor<Preconditioner>())
         .def(LimitedBFGSPreconditionerBaseVisitor<Preconditioner>());
   }
 };

include/eigenpy/solvers/BasicPreconditioners.hpp

 /*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
- *
- * This file is part of eigenpy.
- * eigenpy is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * as published by the Free Software Foundation, either version 3 of
- * the License, or (at your option) any later version.
- * eigenpy is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
- * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU Lesser General Public License for more details.  You should
- * have received a copy of the GNU Lesser General Public License along
- * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ * Copyright 2017 CNRS
+ * Copyright 2024 Inria
  */
 
 #ifndef __eigenpy_basic_preconditioners_hpp__
@@ -81,7 +70,8 @@ struct DiagonalPreconditionerVisitor
         "A preconditioner based on the digonal entrie.\n"
         "This class allows to approximately solve for A.x = b problems "
         "assuming A is a diagonal matrix.",
-        bp::no_init);
+        bp::no_init)
+        .def(IdVisitor<Preconditioner>());
   }
 };
 
@@ -103,7 +93,8 @@ struct LeastSquareDiagonalPreconditionerVisitor
         "his class allows to approximately solve for A' A x  = A' b problems "
         "assuming A' A is a diagonal matrix.",
         bp::no_init)
-        .def(DiagonalPreconditionerVisitor<Scalar>());
+        .def(DiagonalPreconditionerVisitor<Scalar>())
+        .def(IdVisitor<Preconditioner>());
   }
 };
 #endif
@@ -117,7 +108,8 @@ struct IdentityPreconditionerVisitor
 
   static void expose() {
     bp::class_<Preconditioner>("IdentityPreconditioner", bp::no_init)
-        .def(PreconditionerBaseVisitor<Preconditioner>());
+        .def(PreconditionerBaseVisitor<Preconditioner>())
+        .def(IdVisitor<Preconditioner>());
   }
 };
 

include/eigenpy/solvers/ConjugateGradient.hpp

 /*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
- *
- * This file is part of eigenpy.
- * eigenpy is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * as published by the Free Software Foundation, either version 3 of
- * the License, or (at your option) any later version.
- * eigenpy is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
- * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU Lesser General Public License for more details.  You should
- * have received a copy of the GNU Lesser General Public License along
- * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ * Copyright 2017 CNRS
  */
 
 #ifndef __eigenpy_conjugate_gradient_hpp__
@@ -43,7 +31,8 @@ struct ConjugateGradientVisitor
 
   static void expose(const std::string& name = "ConjugateGradient") {
     bp::class_<ConjugateGradient, boost::noncopyable>(name.c_str(), bp::no_init)
-        .def(ConjugateGradientVisitor<ConjugateGradient>());
+        .def(ConjugateGradientVisitor<ConjugateGradient>())
+        .def(IdVisitor<ConjugateGradient>());
   }
 };
 

include/eigenpy/solvers/IterativeSolverBase.hpp

 /*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
- *
- * This file is part of eigenpy.
- * eigenpy is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * as published by the Free Software Foundation, either version 3 of
- * the License, or (at your option) any later version.
- * eigenpy is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
- * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU Lesser General Public License for more details.  You should
- * have received a copy of the GNU Lesser General Public License along
- * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ * Copyright 2017 CNRS
  */
 
 #ifndef __eigenpy_iterative_solver_base_hpp__

include/eigenpy/solvers/LeastSquaresConjugateGradient.hpp

 /*
- * Copyright 2017-2018, Justin Carpentier, LAAS-CNRS
- *
- * This file is part of eigenpy.
- * eigenpy is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * as published by the Free Software Foundation, either version 3 of
- * the License, or (at your option) any later version.
- * eigenpy is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
- * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU Lesser General Public License for more details.  You should
- * have received a copy of the GNU Lesser General Public License along
- * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ * Copyright 2017-2018 CNRS
  */
 
 #ifndef __eigenpy_least_square_conjugate_gradient_hpp__
@@ -46,7 +34,8 @@ struct LeastSquaresConjugateGradientVisitor
         "LeastSquaresConjugateGradient", bp::no_init)
         .def(IterativeSolverVisitor<LeastSquaresConjugateGradient>())
         .def(LeastSquaresConjugateGradientVisitor<
-             LeastSquaresConjugateGradient>());
+             LeastSquaresConjugateGradient>())
+        .def(IdVisitor<LeastSquaresConjugateGradient>());
   }
 };
 

include/eigenpy/solvers/SparseSolverBase.hpp

 /*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
- *
- * This file is part of eigenpy.
- * eigenpy is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * as published by the Free Software Foundation, either version 3 of
- * the License, or (at your option) any later version.
- * eigenpy is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
- * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU Lesser General Public License for more details.  You should
- * have received a copy of the GNU Lesser General Public License along
- * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ * Copyright 2017 CNRS
  */
 
 #ifndef __eigenpy_sparse_solver_base_hpp__

include/eigenpy/solvers/preconditioners.hpp

 /*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
- *
- * This file is part of eigenpy.
- * eigenpy is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public License
- * as published by the Free Software Foundation, either version 3 of
- * the License, or (at your option) any later version.
- * eigenpy is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
- * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU Lesser General Public License for more details.  You should
- * have received a copy of the GNU Lesser General Public License along
- * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
+ * Copyright 2017 CNRS
  */
 
 #ifndef __eigenpy_preconditioners_hpp__

include/eigenpy/sparse/eigen-from-python.hpp

+//
+// Copyright (c) 2024 INRIA
+//
+
+#ifndef __eigenpy_sparse_eigen_from_python_hpp__
+#define __eigenpy_sparse_eigen_from_python_hpp__
+
+#include "eigenpy/fwd.hpp"
+#include "eigenpy/eigen-allocator.hpp"
+#include "eigenpy/scipy-type.hpp"
+#include "eigenpy/scalar-conversion.hpp"
+
+namespace eigenpy {
+
+template <typename SparseMatrixType>
+struct expected_pytype_for_arg<SparseMatrixType,
+                               Eigen::SparseMatrixBase<SparseMatrixType> > {
+  static PyTypeObject const *get_pytype() {
+    PyTypeObject const *py_type = ScipyType::get_pytype<SparseMatrixType>();
+    return py_type;
+  }
+};
+
+}  // namespace eigenpy
+
+namespace boost {
+namespace python {
+namespace converter {
+
+template <typename Scalar, int Options, typename StorageIndex>
+struct expected_pytype_for_arg<
+    Eigen::SparseMatrix<Scalar, Options, StorageIndex> >
+    : eigenpy::expected_pytype_for_arg<
+          Eigen::SparseMatrix<Scalar, Options, StorageIndex> > {};
+
+template <typename Scalar, int Options, typename StorageIndex>
+struct rvalue_from_python_data<
+    Eigen::SparseMatrix<Scalar, Options, StorageIndex> const &>
+    : ::eigenpy::rvalue_from_python_data<
+          Eigen::SparseMatrix<Scalar, Options, StorageIndex> const &> {
+  typedef Eigen::SparseMatrix<Scalar, Options, StorageIndex> T;
+  EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(T const &)
+};
+
+template <typename Derived>
+struct rvalue_from_python_data<Eigen::SparseMatrixBase<Derived> const &>
+    : ::eigenpy::rvalue_from_python_data<Derived const &> {
+  EIGENPY_RVALUE_FROM_PYTHON_DATA_INIT(Derived const &)
+};
+
+}  // namespace converter
+}  // namespace python
+}  // namespace boost
+
+namespace boost {
+namespace python {
+namespace detail {
+// template <typename TensorType>
+// struct referent_storage<Eigen::TensorRef<TensorType> &> {
+//   typedef Eigen::TensorRef<TensorType> RefType;
+//   typedef ::eigenpy::details::referent_storage_eigen_ref<RefType>
+//   StorageType; typedef typename ::eigenpy::aligned_storage<
+//       referent_size<StorageType &>::value>::type type;
+// };
+
+// template <typename TensorType>
+// struct referent_storage<const Eigen::TensorRef<const TensorType> &> {
+//   typedef Eigen::TensorRef<const TensorType> RefType;
+//   typedef ::eigenpy::details::referent_storage_eigen_ref<RefType>
+//   StorageType; typedef typename ::eigenpy::aligned_storage<
+//       referent_size<StorageType &>::value>::type type;
+// };
+}  // namespace detail
+}  // namespace python
+}  // namespace boost
+
+namespace eigenpy {
+
+template <typename SparseMatrixType>
+struct eigen_from_py_impl<SparseMatrixType,
+                          Eigen::SparseMatrixBase<SparseMatrixType> > {
+  typedef typename SparseMatrixType::Scalar Scalar;
+
+  /// \brief Determine if pyObj can be converted into a MatType object
+  static void *convertible(PyObject *pyObj);
+
+  /// \brief Allocate memory and copy pyObj in the new storage
+  static void construct(PyObject *pyObj,
+                        bp::converter::rvalue_from_python_stage1_data *memory);
+
+  static void registration();
+};
+
+template <typename SparseMatrixType>
+void *eigen_from_py_impl<
+    SparseMatrixType,
+    Eigen::SparseMatrixBase<SparseMatrixType> >::convertible(PyObject *pyObj) {
+  const PyTypeObject *type = Py_TYPE(pyObj);
+  const PyTypeObject *sparse_matrix_py_type =
+      ScipyType::get_pytype<SparseMatrixType>();
+  typedef typename SparseMatrixType::Scalar Scalar;
+
+  if (type != sparse_matrix_py_type) return 0;
+
+  bp::object obj(bp::handle<>(bp::borrowed(pyObj)));
+
+  const int type_num = ScipyType::get_numpy_type_num(obj);
+
+  if (!np_type_is_convertible_into_scalar<Scalar>(type_num)) return 0;
+
+  return pyObj;
+}
+
+template <typename MatOrRefType>
+void eigen_sparse_matrix_from_py_construct(
+    PyObject *pyObj, bp::converter::rvalue_from_python_stage1_data *memory) {
+  typedef typename MatOrRefType::Scalar Scalar;
+  typedef typename MatOrRefType::StorageIndex StorageIndex;
+
+  typedef Eigen::Map<MatOrRefType> MapMatOrRefType;
+
+  bp::converter::rvalue_from_python_storage<MatOrRefType> *storage =
+      reinterpret_cast<
+          bp::converter::rvalue_from_python_storage<MatOrRefType> *>(
+          reinterpret_cast<void *>(memory));
+  void *raw_ptr = storage->storage.bytes;
+
+  bp::object obj(bp::handle<>(bp::borrowed(pyObj)));
+
+  const int type_num_python_sparse_matrix = ScipyType::get_numpy_type_num(obj);
+  const int type_num_eigen_sparse_matrix = Register::getTypeCode<Scalar>();
+
+  if (type_num_eigen_sparse_matrix == type_num_python_sparse_matrix) {
+    typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> DataVector;
+    //    typedef const Eigen::Ref<const DataVector> RefDataVector;
+    DataVector data = bp::extract<DataVector>(obj.attr("data"));
+    bp::tuple shape = bp::extract<bp::tuple>(obj.attr("shape"));
+    typedef Eigen::Matrix<StorageIndex, Eigen::Dynamic, 1> StorageIndexVector;
+    //    typedef const Eigen::Ref<const StorageIndexVector>
+    //    RefStorageIndexVector;
+    StorageIndexVector indices =
+        bp::extract<StorageIndexVector>(obj.attr("indices"));
+    StorageIndexVector indptr =
+        bp::extract<StorageIndexVector>(obj.attr("indptr"));
+
+    const Eigen::Index m = bp::extract<Eigen::Index>(shape[0]),
+                       n = bp::extract<Eigen::Index>(shape[1]),
+                       nnz = bp::extract<Eigen::Index>(obj.attr("nnz"));
+
+    // Handle the specific case of the null matrix
+    Scalar *data_ptr = nullptr;
+    StorageIndex *indices_ptr = nullptr;
+    if (nnz > 0) {
+      data_ptr = data.data();
+      indices_ptr = indices.data();
+    }
+    MapMatOrRefType sparse_map(m, n, nnz, indptr.data(), indices_ptr, data_ptr);
+
+    new (raw_ptr) MatOrRefType(sparse_map);
+  }
+
+  memory->convertible = storage->storage.bytes;
+}
+
+template <typename SparseMatrixType>
+void eigen_from_py_impl<SparseMatrixType,
+                        Eigen::SparseMatrixBase<SparseMatrixType> >::
+    construct(PyObject *pyObj,
+              bp::converter::rvalue_from_python_stage1_data *memory) {
+  eigen_sparse_matrix_from_py_construct<SparseMatrixType>(pyObj, memory);
+}
+
+template <typename SparseMatrixType>
+void eigen_from_py_impl<
+    SparseMatrixType,
+    Eigen::SparseMatrixBase<SparseMatrixType> >::registration() {
+  bp::converter::registry::push_back(
+      reinterpret_cast<void *(*)(_object *)>(&eigen_from_py_impl::convertible),
+      &eigen_from_py_impl::construct, bp::type_id<SparseMatrixType>()
+#ifndef BOOST_PYTHON_NO_PY_SIGNATURES
+                                          ,
+      &eigenpy::expected_pytype_for_arg<SparseMatrixType>::get_pytype
+#endif
+  );
+}
+
+template <typename SparseMatrixType>
+struct eigen_from_py_converter_impl<
+    SparseMatrixType, Eigen::SparseMatrixBase<SparseMatrixType> > {
+  static void registration() {
+    EigenFromPy<SparseMatrixType>::registration();
+
+    // Add conversion to Eigen::SparseMatrixBase<SparseMatrixType>
+    typedef Eigen::SparseMatrixBase<SparseMatrixType> SparseMatrixBase;
+    EigenFromPy<SparseMatrixBase>::registration();
+
+    //    // Add conversion to Eigen::Ref<SparseMatrixType>
+    //    typedef Eigen::Ref<SparseMatrixType> RefType;
+    //    EigenFromPy<SparseMatrixType>::registration();
+    //
+    //    // Add conversion to Eigen::Ref<const SparseMatrixType>
+    //    typedef const Eigen::Ref<const SparseMatrixType> ConstRefType;
+    //    EigenFromPy<ConstRefType>::registration();
+  }
+};
+
+template <typename SparseMatrixType>
+struct EigenFromPy<Eigen::SparseMatrixBase<SparseMatrixType> >
+    : EigenFromPy<SparseMatrixType> {
+  typedef EigenFromPy<SparseMatrixType> EigenFromPyDerived;
+  typedef Eigen::SparseMatrixBase<SparseMatrixType> Base;
+
+  static void registration() {
+    bp::converter::registry::push_back(
+        reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
+        &EigenFromPy::construct, bp::type_id<Base>()
+#ifndef BOOST_PYTHON_NO_PY_SIGNATURES
+                                     ,
+        &eigenpy::expected_pytype_for_arg<SparseMatrixType>::get_pytype
+#endif
+    );
+  }
+};
+//
+// template <typename TensorType>
+// struct EigenFromPy<Eigen::TensorRef<TensorType> > {
+//  typedef Eigen::TensorRef<TensorType> RefType;
+//  typedef typename TensorType::Scalar Scalar;
+//
+//  /// \brief Determine if pyObj can be converted into a MatType object
+//  static void *convertible(PyObject *pyObj) {
+//    if (!call_PyArray_Check(pyObj)) return 0;
+//    PyArrayObject *pyArray = reinterpret_cast<PyArrayObject *>(pyObj);
+//    if (!PyArray_ISWRITEABLE(pyArray)) return 0;
+//    return EigenFromPy<TensorType>::convertible(pyObj);
+//  }
+//
+//  static void registration() {
+//    bp::converter::registry::push_back(
+//        reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
+//        &eigen_from_py_construct<RefType>, bp::type_id<RefType>()
+// #ifndef BOOST_PYTHON_NO_PY_SIGNATURES
+//                                               ,
+//        &eigenpy::expected_pytype_for_arg<TensorType>::get_pytype
+// #endif
+//    );
+//  }
+//};
+
+// template <typename TensorType>
+// struct EigenFromPy<const Eigen::TensorRef<const TensorType> > {
+//   typedef const Eigen::TensorRef<const TensorType> ConstRefType;
+//   typedef typename TensorType::Scalar Scalar;
+//
+//   /// \brief Determine if pyObj can be converted into a MatType object
+//   static void *convertible(PyObject *pyObj) {
+//     return EigenFromPy<TensorType>::convertible(pyObj);
+//   }
+//
+//   static void registration() {
+//     bp::converter::registry::push_back(
+//         reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
+//         &eigen_from_py_construct<ConstRefType>, bp::type_id<ConstRefType>()
+// #ifndef BOOST_PYTHON_NO_PY_SIGNATURES
+//                                                     ,
+//         &eigenpy::expected_pytype_for_arg<TensorType>::get_pytype
+// #endif
+//     );
+//   }
+// };
+
+}  // namespace eigenpy
+
+#endif  // __eigenpy_sparse_eigen_from_python_hpp__

include/eigenpy/std-array.hpp

+///
+/// Copyright (c) 2023-2024 CNRS INRIA
+///
+
+#ifndef __eigenpy_utils_std_array_hpp__
+#define __eigenpy_utils_std_array_hpp__
+
+#include <boost/python/suite/indexing/indexing_suite.hpp>
+#include "eigenpy/std-vector.hpp"
+
+#include <array>
+
+namespace eigenpy {
+
+template <typename Container, bool NoProxy, class SliceAllocator,
+          class DerivedPolicies>
+class array_indexing_suite;
+namespace details {
+
+template <typename Container, bool NoProxy, class SliceAllocator>
+class final_array_derived_policies
+    : public array_indexing_suite<
+          Container, NoProxy, SliceAllocator,
+          final_array_derived_policies<Container, NoProxy, SliceAllocator> > {};
+}  // namespace details
+
+template <typename Container, bool NoProxy = false,
+          class SliceAllocator = std::allocator<typename Container::value_type>,
+          class DerivedPolicies = details::final_array_derived_policies<
+              Container, NoProxy, SliceAllocator> >
+class array_indexing_suite
+    : public bp::vector_indexing_suite<Container, NoProxy, DerivedPolicies> {
+ public:
+  typedef typename Container::value_type data_type;
+  typedef typename Container::value_type key_type;
+  typedef typename Container::size_type index_type;
+  typedef typename Container::size_type size_type;
+  typedef typename Container::difference_type difference_type;
+  typedef std::vector<data_type, SliceAllocator> slice_vector_type;
+  static constexpr std::size_t Size = std::tuple_size<Container>{};
+
+  template <class Class>
+  static void extension_def(Class &) {}
+
+  // throws exception
+  static void delete_item(Container &, index_type) {
+    PyErr_SetString(PyExc_NotImplementedError,
+                    "Cannot delete item from std::array type.");
+    bp::throw_error_already_set();
+  }
+
+  // throws exception
+  static void delete_slice(Container &, index_type, index_type) {
+    PyErr_SetString(PyExc_NotImplementedError,
+                    "Cannot delete slice from std::array type.");
+    bp::throw_error_already_set();
+  }
+
+  static void set_slice(Container &container, index_type from, index_type to,
+                        data_type const &v) {
+    if (from >= to) {
+      PyErr_SetString(PyExc_NotImplementedError,
+                      "Setting this slice would insert into an std::array, "
+                      "which is not supported.");
+      bp::throw_error_already_set();
+    } else {
+      std::fill(container.begin() + from, container.begin() + to, v);
+    }
+  }
+
+  template <class Iter>
+  static void set_slice(Container &container, index_type from, index_type to,
+                        Iter first, Iter last) {
+    if (from >= to) {
+      PyErr_SetString(PyExc_NotImplementedError,
+                      "Setting this slice would insert into an std::array, "
+                      "which is not supported.");
+      bp::throw_error_already_set();
+    } else {
+      if (long(to - from) == std::distance(first, last)) {
+        std::copy(first, last, container.begin() + from);
+      } else {
+        PyErr_SetString(PyExc_NotImplementedError,
+                        "Size of std::array slice and size of right-hand side "
+                        "iterator are incompatible.");
+        bp::throw_error_already_set();
+      }
+    }
+  }
+
+  static bp::object get_slice(Container &container, index_type from,
+                              index_type to) {
+    if (from > to) return bp::object(slice_vector_type());
+    slice_vector_type out;
+    for (size_t i = from; i < to; i++) {
+      out.push_back(container[i]);
+    }
+    return bp::object(std::move(out));
+  }
+};
+
+/// \brief Expose an std::array (a C++11 fixed-size array) from a given type
+/// \tparam array_type std::array type to expose
+/// \tparam NoProxy When set to false, the elements will be copied when
+/// returned to Python.
+/// \tparam SliceAllocator Allocator type to use for slices of std::array type
+/// accessed using e.g. __getitem__[0:4] in Python. These slices are returned as
+/// std::vector (dynamic size).
+template <typename array_type, bool NoProxy = false,
+          class SliceAllocator =
+              std::allocator<typename array_type::value_type> >
+struct StdArrayPythonVisitor {
+  typedef typename array_type::value_type value_type;
+
+  static ::boost::python::list tolist(array_type &self, const bool deep_copy) {
+    return details::build_list<array_type, NoProxy>::run(self, deep_copy);
+  }
+
+  static void expose(const std::string &class_name,
+                     const std::string &doc_string = "") {
+    expose(class_name, doc_string, EmptyPythonVisitor());
+  }
+
+  template <typename DerivedVisitor>
+  static void expose(const std::string &class_name,
+                     const bp::def_visitor<DerivedVisitor> &visitor) {
+    expose(class_name, "", visitor);
+  }
+
+  template <typename DerivedVisitor>
+  static void expose(const std::string &class_name,
+                     const std::string &doc_string,
+                     const bp::def_visitor<DerivedVisitor> &visitor) {
+    if (!register_symbolic_link_to_registered_type<array_type>()) {
+      bp::class_<array_type> cl(class_name.c_str(), doc_string.c_str());
+      cl.def(bp::init<const array_type &>(bp::args("self", "other"),
+                                          "Copy constructor"));
+      cl.def(IdVisitor<array_type>());
+
+      array_indexing_suite<array_type, NoProxy, SliceAllocator> indexing_suite;
+      cl.def(indexing_suite)
+          .def(visitor)
+          .def("tolist", tolist,
+               (bp::arg("self"), bp::arg("deep_copy") = false),
+               "Returns the std::array as a Python list.");
+    }
+  }
+};
+
+/// Exposes std::array<MatrixType, Size>
+template <typename MatrixType, std::size_t Size>
+void exposeStdArrayEigenSpecificType(const char *name) {
+  std::ostringstream oss;
+  oss << "StdArr";
+  oss << Size << "_" << name;
+  typedef std::array<MatrixType, Size> array_type;
+  StdArrayPythonVisitor<array_type, false,
+                        Eigen::aligned_allocator<MatrixType> >::
+      expose(oss.str(),
+             details::overload_base_get_item_for_std_vector<array_type>());
+}
+
+}  // namespace eigenpy
+
+#endif  // ifndef __eigenpy_utils_std_array_hpp__

include/eigenpy/std-map.hpp

-/// Copyright (c) 2016-2022 CNRS INRIA
-/// This file was taken from Pinocchio (header
-/// <pinocchio/bindings/python/utils/std-vector.hpp>)
+/// Copyright (c) 2024, INRIA
 ///
 
-#ifndef __eigenpy_utils_map_hpp__
-#define __eigenpy_utils_map_hpp__
+#ifndef __eigenpy_std_map_hpp__
+#define __eigenpy_std_map_hpp__
 
-#include <boost/python/suite/indexing/map_indexing_suite.hpp>
+#include "eigenpy/map.hpp"
+#include "eigenpy/deprecated.hpp"
+#include <map>
 
 namespace eigenpy {
-namespace details {
+
 template <typename Container>
-struct overload_base_get_item_for_std_map
-    : public boost::python::def_visitor<
-          overload_base_get_item_for_std_map<Container> > {
-  typedef typename Container::value_type value_type;
-  typedef typename Container::value_type::second_type data_type;
-  typedef typename Container::key_type key_type;
-  typedef typename Container::key_type index_type;
-
-  template <class Class>
-  void visit(Class& cl) const {
-    cl.def("__getitem__", &base_get_item);
-  }
-
- private:
-  static boost::python::object base_get_item(
-      boost::python::back_reference<Container&> container, PyObject* i_) {
-    index_type idx = convert_index(container.get(), i_);
-    typename Container::iterator i = container.get().find(idx);
-    if (i == container.get().end()) {
-      PyErr_SetString(PyExc_KeyError, "Invalid key");
-      bp::throw_error_already_set();
-    }
-
-    typename bp::to_python_indirect<data_type&,
-                                    bp::detail::make_reference_holder>
-        convert;
-    return bp::object(bp::handle<>(convert(i->second)));
-  }
-
-  static index_type convert_index(Container& /*container*/, PyObject* i_) {
-    bp::extract<key_type const&> i(i_);
-    if (i.check()) {
-      return i();
-    } else {
-      bp::extract<key_type> i(i_);
-      if (i.check()) return i();
-    }
-
-    PyErr_SetString(PyExc_TypeError, "Invalid index type");
-    bp::throw_error_already_set();
-    return index_type();
-  }
-};
+using overload_base_get_item_for_std_map EIGENPY_DEPRECATED_MESSAGE(
+    "Use overload_base_get_item_for_map<> instead.") =
+    overload_base_get_item_for_map<Container>;
 
+namespace details {
+using ::eigenpy::overload_base_get_item_for_std_map;
 }  // namespace details
+
+/**
+ * @brief Expose an std::map from a type given as template argument.
+ *
+ * @param[in] T          Type to expose as std::map<T>.
+ * @param[in] Compare    Type for the Compare in std::map<T,Compare,Allocator>.
+ * @param[in] Allocator  Type for the Allocator in
+ * std::map<T,Compare,Allocator>.
+ * @param[in] NoProxy    When set to false, the elements will be copied when
+ * returned to Python.
+ */
+template <class Key, class T, class Compare = std::less<Key>,
+          class Allocator = std::allocator<std::pair<const Key, T> >,
+          bool NoProxy = false>
+struct StdMapPythonVisitor
+    : GenericMapVisitor<std::map<Key, T, Compare, Allocator>, NoProxy> {};
+
+namespace python {
+// fix previous mistake
+using ::eigenpy::StdMapPythonVisitor;
+}  // namespace python
 }  // namespace eigenpy
 
-#endif  // ifndef __eigenpy_utils_map_hpp__
+#endif  // ifndef __eigenpy_std_map_hpp__