EigenPy — Versatile and efficient Python bindings between Numpy and Eigen ====== <p align="center"> <a href="https://opensource.org/licenses/BSD-2-Clause"><img src="https://img.shields.io/badge/License-BSD%202--Clause-green.svg" alt="License"/></a> <a href="https://github.com/stack-of-tasks/eigenpy/workflows/linux.yml"><img alt="Build Status" src="https://github.com/stack-of-tasks/eigenpy/actions/workflows/linux.yml/badge.svg?branch=devel" /></a> <a href="https://anaconda.org/conda-forge/eigenpy"><img src="https://img.shields.io/conda/dn/conda-forge/eigenpy.svg" alt="Conda Downloads"/></a> <a href="https://anaconda.org/conda-forge/eigenpy"><img src="https://img.shields.io/conda/vn/conda-forge/eigenpy.svg" alt="Conda Version"/></a> <a href="https://badge.fury.io/py/eigenpy"><img src="https://badge.fury.io/py/eigenpy.svg" alt="PyPI version"></a> <a href="https://github.com/psf/black"><img src="https://img.shields.io/badge/code%20style-black-000000.svg" alt="Code style: black"></a> <a href="https://github.com/astral-sh/ruff"><img src="https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json" alt="Linter: ruff"></a> </p> **EigenPy** is an open-source framework that allows the binding of the famous [Eigen](http://eigen.tuxfamily.org) C++ library in Python via Boost.Python. **EigenPy** provides: - full memory sharing between Numpy and Eigen, avoiding memory allocation - full support Eigen::Ref avoiding memory allocation - full support of the Eigen::Tensor module - exposition of the Geometry module of Eigen for easy code prototyping - standard matrix decomposion routines of Eigen such as the Cholesky decomposition (SVD and QR decompositions [can be added](#contributing)) - full support of SWIG objects - full support of runtime declaration of Numpy scalar types - extended API to expose several STL types and some of their Boost equivalents: `optional` types, `std::pair`, maps, variants... - full support of vectorization between C++ and Python (all the hold objects are properly aligned in memory) ## Installation The installation of **EigenPy** on your computer is made easy for Linux/BSD, Mac OS X, and Windows environments. ### Conda You simply need this simple line: ```bash conda install eigenpy -c conda-forge ``` ### Ubuntu You can easily install **EigenPy** from binaries. #### Add robotpkg apt repository 1. Add robotpkg as source repository to apt: ``` sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg' >> /etc/apt/sources.list.d/robotpkg.list" ``` 2. Register the authentication certificate of robotpkg: ``` curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add - ``` 3. You need to run at least one apt update to fetch the package descriptions: ```bash sudo apt-get update ``` #### Install EigenPy 4. The installation of **EigenPy** and its dependencies is made through the line: ```bash sudo apt install robotpkg-py35-eigenpy ``` where 35 should be replaced by the Python 3, you want to work this (e.g., `robotpkg-py36-eigenpy` to work with Python 3.6). ### Mac OS X The installation of **EigenPy** on Mac OS X is made via [HomeBrew](https://brew.sh/). You just need to register the tap of the software repository. ``` brew tap gepetto/homebrew-gepetto ``` and then install **EigenPy** for Python 3.x with: ``` brew install eigenpy ``` ## Build Build instruction can be found [here](./development/build.md) ## Credits The following people have been involved in the development of **EigenPy**: - [Justin Carpentier](https://jcarpent.github.io) (Inria): main developer and manager of the project - [Nicolas Mansard](http://projects.laas.fr/gepetto/index.php/Members/NicolasMansard) (LAAS-CNRS): initial project instructor - [Wolfgang Merkt](http://www.wolfgangmerkt.com/) (University of Edinburgh): ROS integration and support - [Sean Yen](https://www.linkedin.com/in/seanyentw) (Microsoft): Windows integration - [Loïc Estève](https://github.com/lesteve) (Inria): Conda integration - [Wilson Jallet](https://manifoldfr.github.io/) (Inria/LAAS-CNRS): core developer - [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and manager of the project If you have taken part in the development of **EigenPy**, feel free to add your name and contribution here. ## Acknowledgments The development of **EigenPy** is supported by the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr) and the [Willow team](https://www.di.ens.fr/willow/) [@INRIA](http://www.inria.fr).