From 97d8d5cd82c96b2e4d9e9b990ec9f0e49b0f1038 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 18 Jul 2018 19:46:21 +0200
Subject: [PATCH 1/2] [Conversion] Register Eigen::MatrixBase

---
 include/eigenpy/details.hpp | 38 +++++++++++++++++++++++++++++--------
 1 file changed, 30 insertions(+), 8 deletions(-)

diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index dfaef06f1..2d77adef9 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -183,13 +183,6 @@ namespace eigenpy
   template<typename MatType>
   struct EigenFromPy
   {
-    EigenFromPy()
-    {
-      bp::converter::registry::push_back
-      (reinterpret_cast<void *(*)(_object *)>(&convertible),
-       &construct,bp::type_id<MatType>());
-    }
-    
     // Determine if obj_ptr can be converted in a Eigenvec
     static void* convertible(PyArrayObject* obj_ptr)
     {
@@ -330,6 +323,34 @@ namespace eigenpy
     enableEigenPySpecific<MatType>();
   }
   
+  template<typename MatType>
+  struct EigenFromPyConverter
+  {
+    static void registration()
+    {
+      bp::converter::registry::push_back
+      (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy<MatType>::convertible),
+       &EigenFromPy<MatType>::construct,bp::type_id<MatType>());
+      
+      // Add also conversion to Eigen::MatrixBase<MatType>
+      bp::converter::registry::push_back
+      (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy<MatType>::convertible),
+       &EigenFromPy<MatType>::construct,bp::type_id< Eigen::MatrixBase<MatType> >());
+    }
+  };
+  
+  template<typename MatType>
+  struct EigenFromPyConverter< eigenpy::Ref<MatType> >
+  {
+    static void registration()
+    {
+      bp::converter::registry::push_back
+      (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy<MatType>::convertible),
+       &EigenFromPy<MatType>::construct,bp::type_id<MatType>());
+    }
+  };
+  
+  
   template<typename MatType>
   void enableEigenPySpecific()
   {
@@ -337,7 +358,8 @@ namespace eigenpy
     if(check_registration<MatType>()) return;
     
     bp::to_python_converter<MatType,EigenToPy<MatType> >();
-    EigenFromPy<MatType>();
+    EigenFromPyConverter<MatType>::registration();
+   
   }
 
 } // namespace eigenpy

From ce9e361c869433bb0772e7d841e30ff8ea2dc385 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Wed, 18 Jul 2018 19:46:40 +0200
Subject: [PATCH 2/2] [Test] Add test of Eigen::MatrixBase

---
 unittest/matrix.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/unittest/matrix.cpp b/unittest/matrix.cpp
index b65d2f870..bc4451480 100644
--- a/unittest/matrix.cpp
+++ b/unittest/matrix.cpp
@@ -72,8 +72,15 @@ Eigen::MatrixXd reflex(const MatType & M, bool verbose)
   return Eigen::MatrixXd(M);
 }
 
+template<typename MatrixDerived>
+MatrixDerived base(const Eigen::MatrixBase<MatrixDerived> & m)
+{
+  return m.derived();
+}
+
 BOOST_PYTHON_MODULE(matrix)
 {
+  using namespace Eigen;
   namespace bp = boost::python;
   eigenpy::enableEigenPy();
 
@@ -92,4 +99,7 @@ BOOST_PYTHON_MODULE(matrix)
 
   bp::def("emptyVector", emptyVector);
   bp::def("emptyMatrix", emptyMatrix);
+  
+  bp::def("base", base<VectorXd>);
+  bp::def("base", base<MatrixXd>);
 }