Clean code + fix bugs relative to alignment issues

CMakeLists.txt

@@ -109,22 +109,6 @@ MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy")
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy/solvers")
 INCLUDE_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/include/eigenpy)
 
-#FOREACH(header ${HEADERS})
-#  GET_FILENAME_COMPONENT(headerName ${header} NAME)
-#  IF(WIN32)
-#    execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different
-#                    ${${PROJECT_NAME}_SOURCE_DIR}/${header}
-#                    ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/)
-#  ELSE(WIN32)
-#    execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
-#                    ${${PROJECT_NAME}_SOURCE_DIR}/${header}
-#                    ${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}/${headerName})
-#  ENDIF(WIN32)
-#  INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/${header}
-#	  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/${PROJECT_NAME}
-#          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ)
-#ENDFOREACH(header)
-
 SET(${PROJECT_NAME}_HEADERS)
 FOREACH(header ${HEADERS})
   GET_FILENAME_COMPONENT(headerName ${header} NAME)

src/angle-axis.cpp

@@ -14,9 +14,12 @@
  * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "eigenpy/memory.hpp"
 #include "eigenpy/geometry.hpp"
 #include "eigenpy/angle-axis.hpp"
 
+EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(Eigen::AngleAxisd)
+
 namespace eigenpy
 {
   void exposeAngleAxis()

src/eigenpy.hpp

@@ -1,5 +1,5 @@
 /*
- * Copyright 2014, Nicolas Mansard, LAAS-CNRS
+ * Copyright 2014-2017, Nicolas Mansard and Justin Carpentier, LAAS-CNRS
  *
  * This file is part of eigenpy.
  * eigenpy is free software: you can redistribute it and/or
@@ -22,13 +22,6 @@
 
 namespace eigenpy
 {
-  typedef UnalignedEquivalent<Eigen::MatrixXd>::type MatrixXd_fx;
-  typedef UnalignedEquivalent<Eigen::Matrix3d>::type Matrix3d_fx;
-  typedef UnalignedEquivalent<Eigen::Matrix4d>::type Matrix4d_fx;
-  typedef UnalignedEquivalent<Eigen::VectorXd>::type VectorXd_fx;
-  typedef UnalignedEquivalent<Eigen::Vector3d>::type Vector3d_fx;
-  typedef UnalignedEquivalent<Eigen::Vector4d>::type Vector4d_fx;
-
   /* Enable Eigen-Numpy serialization for a set of standard MatrixBase instance. */
   void enableEigenPy();
 

src/fwd.hpp

@@ -1,5 +1,5 @@
 /*
- * Copyright 2014, Nicolas Mansard, LAAS-CNRS
+ * Copyright 2014-2017, Nicolas Mansard and Justin Carpentier, LAAS-CNRS
  *
  * This file is part of eigenpy.
  * eigenpy is free software: you can redistribute it and/or
@@ -24,24 +24,4 @@
 #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
 #endif
 
-namespace eigenpy
-{
-  template<typename D, typename Scalar = typename D::Scalar>
-  struct UnalignedEquivalent
-  {
-    typedef Eigen::MatrixBase<D> MatType;
-    typedef Eigen::Matrix<Scalar,
-             D::RowsAtCompileTime,
-             D::ColsAtCompileTime,
-#ifndef EIGENPY_ALIGNED
-             D::Options | Eigen::DontAlign,
-#else
-             D::Options,
-#endif
-             D::MaxRowsAtCompileTime,
-             D::MaxColsAtCompileTime> type;
-  };
-
-} // namespace eigenpy
-
 #endif // ifndef __eigenpy_fwd_hpp__

src/quaternion.cpp

@@ -14,9 +14,12 @@
  * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "eigenpy/memory.hpp"
 #include "eigenpy/geometry.hpp"
 #include "eigenpy/quaternion.hpp"
 
+EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(Eigen::Quaterniond)
+
 namespace eigenpy
 {
   void exposeQuaternion()

src/quaternion.hpp

@@ -112,7 +112,7 @@ namespace eigenpy
       .def("_transformVector",&Quaternion::_transformVector,bp::arg("vector"),"Rotation of a vector by a quaternion.")
       .def("vec",&vec,"Returns a vector expression of the imaginary part (x,y,z).")
       .def("angularDistance",&Quaternion::template angularDistance<Quaternion>,"Returns the angle (in radian) between two rotations.")
-      .def("slerp",&Quaternion::template slerp<Quaternion>,bp::args("t","other"),
+      .def("slerp",&slerp,bp::args("t","other"),
            "Returns the spherical linear interpolation between the two quaternions *this and other at the parameter t in [0;1].")
 
       /* --- Operators --- */
@@ -205,6 +205,9 @@ namespace eigenpy
 
       return ss.str();
     }
+
+    static Quaternion slerp(const Quaternion & self, const Scalar t, const Quaternion & other)
+    { return self.slerp(t,other); }
 
   public:
 

src/solvers/BasicPreconditioners.hpp

@@ -93,7 +93,7 @@ namespace eigenpy
     }
   };
 
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#if EIGEN_VERSION_AT_LEAST(3,3,5)
   template<typename Scalar>
   struct LeastSquareDiagonalPreconditionerVisitor : PreconditionerBaseVisitor<Eigen::LeastSquareDiagonalPreconditioner<Scalar> >
   {

src/solvers/preconditioners.cpp

@@ -25,7 +25,7 @@ namespace eigenpy
     using namespace Eigen;
 
     DiagonalPreconditionerVisitor<double>::expose();
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#if EIGEN_VERSION_AT_LEAST(3,3,5)
     LeastSquareDiagonalPreconditionerVisitor<double>::expose();
 #endif
     IdentityPreconditionerVisitor::expose();

src/solvers/solvers.cpp

@@ -17,7 +17,7 @@
 #include "eigenpy/solvers/solvers.hpp"
 #include "eigenpy/solvers/ConjugateGradient.hpp"
 
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#if EIGEN_VERSION_AT_LEAST(3,3,5)
   #include "eigenpy/solvers/LeastSquaresConjugateGradient.hpp"
 #endif
 
@@ -27,7 +27,7 @@ namespace eigenpy
   {
     using namespace Eigen;
     ConjugateGradientVisitor< ConjugateGradient<MatrixXd,Lower|Upper> >::expose();
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#if EIGEN_VERSION_AT_LEAST(3,3,5)
     LeastSquaresConjugateGradientVisitor< LeastSquaresConjugateGradient<MatrixXd, LeastSquareDiagonalPreconditionerFix<MatrixXd::Scalar> > >::expose();
 #endif
 

unittest/matrix.cpp

@@ -53,7 +53,7 @@ Eigen::Matrix3d naturals(bool verbose)
 }
 
 template<typename MatType>
-Eigen::MatrixXd reflex(const typename eigenpy::UnalignedEquivalent<MatType>::type & M, bool verbose)
+Eigen::MatrixXd reflex(const MatType & M, bool verbose)
 {
   if(verbose)
     std::cout << "EigenMat = " << M << std::endl;