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Merged
merged 2 commits into from
Jul 18, 2018
Merged

Register Eigen::MatrixBase #37

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97d8d5c
[Conversion] Register Eigen::MatrixBase
jcarpent Jul 18, 2018
ce9e361
[Test] Add test of Eigen::MatrixBase
jcarpent Jul 18, 2018
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38 changes: 30 additions & 8 deletions include/eigenpy/details.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
Expand Down Expand Up @@ -330,14 +323,43 @@ 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()
{
numpy_import_array();
if(check_registration<MatType>()) return;

bp::to_python_converter<MatType,EigenToPy<MatType> >();
EigenFromPy<MatType>();
EigenFromPyConverter<MatType>::registration();

}

} // namespace eigenpy
Expand Down
10 changes: 10 additions & 0 deletions unittest/matrix.cpp
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Expand Up @@ -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();

Expand All @@ -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>);
}