Registration

include/eigenpy/angle-axis.hpp

@@ -103,8 +103,8 @@ namespace eigenpy
 
     static void expose()
     {
-      if(check_registration<AngleAxis>()) return;
-      
+      if(register_symbolic_link_to_registered_type<AngleAxis>()) return;
+
       bp::class_<AngleAxis>("AngleAxis",
                             "AngleAxis representation of rotations.\n\n",
                             bp::no_init)

include/eigenpy/quaternion.hpp

@@ -203,8 +203,8 @@ namespace eigenpy
 
     static void expose()
     {
-      if(check_registration<Quaternion>()) return;
-      
+      if(register_symbolic_link_to_registered_type<Quaternion>()) return;
+
       bp::class_<Quaternion>("Quaternion",
                              "Quaternion representing rotation.\n\n"
                              "Supported operations "

include/eigenpy/registration.hpp

@@ -7,6 +7,7 @@
 #define __eigenpy_registration_hpp__
 
 #include <boost/python.hpp>
+#include <boost/python/scope.hpp>
 
 namespace eigenpy
 {
@@ -29,6 +30,30 @@ namespace eigenpy
 
     return true;
   }
+
+  ///
+  /// \brief Symlink to the current scope the already registered class T.
+  ///
+  /// \returns true if the type T is effectively symlinked.
+  ///
+  /// \tparam T The type to symlink.
+  ///
+  template<typename T>
+  inline bool register_symbolic_link_to_registered_type()
+  {
+    namespace bp = boost::python;
+
+    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::scope().attr(reg->get_class_object()->tp_name) = bp::object(class_obj);
+      return true;
+    }
+
+    return false;
+  }
 }
 
 #endif // ifndef __eigenpy_registration_hpp__