From 291929c933cb33a4261e61c2f6d4052eb64d015b Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Fri, 28 Jun 2019 13:05:53 +0200
Subject: [PATCH 1/2] core: make np_type static thhrough a Singleton

---
 include/eigenpy/details.hpp | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index e6dfc50a9..f0d32adee 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -89,18 +89,19 @@ namespace eigenpy
     static void switchToNumpyArray()
     {
       getInstance().CurrentNumpyType = getInstance().NumpyArrayObject;
-      getInstance().np_type = ARRAY_TYPE;
+      getType() = ARRAY_TYPE;
     }
     
     static void switchToNumpyMatrix()
     {
       getInstance().CurrentNumpyType = getInstance().NumpyMatrixObject;
-      getInstance().np_type = MATRIX_TYPE;
+      getType() = MATRIX_TYPE;
     }
     
-    static NP_TYPE getType()
+    static NP_TYPE & getType()
     {
-      return getInstance().np_type;
+      static NP_TYPE np_type;
+      return np_type;
     }
 
   protected:
@@ -121,6 +122,7 @@ namespace eigenpy
       //NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());
       
       CurrentNumpyType = NumpyMatrixObject; // default conversion
+      getType() = MATRIX_TYPE;
     }
 
     bp::object CurrentNumpyType;
@@ -131,11 +133,8 @@ namespace eigenpy
     //bp::object NumpyAsMatrixObject; PyTypeObject * NumpyAsMatrixType;
     bp::object NumpyArrayObject; PyTypeObject * NumpyArrayType;
     
-    static NP_TYPE np_type;
   };
   
-  NP_TYPE NumpyType::np_type = MATRIX_TYPE;
-  
   template<typename MatType>
   struct EigenObjectAllocator
   {

From 070d223d546f96aafab9411e36dd93204a95091b Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Fri, 28 Jun 2019 13:16:27 +0200
Subject: [PATCH 2/2] test: add test for the dimensions checking

---
 unittest/CMakeLists.txt            |  1 +
 unittest/python/test_dimensions.py | 14 ++++++++++++++
 2 files changed, 15 insertions(+)
 create mode 100644 unittest/python/test_dimensions.py

diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 723247bf7..84ce752b8 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -36,3 +36,4 @@ ENDIF()
 ADD_PYTHON_UNIT_TEST("py-matrix" "unittest/python/test_matrix.py" "unittest")
 ADD_PYTHON_UNIT_TEST("py-geometry" "unittest/python/test_geometry.py" "unittest")
 ADD_PYTHON_UNIT_TEST("py-switch" "unittest/python/test_switch.py" "python/eigenpy")
+ADD_PYTHON_UNIT_TEST("py-dimensions" "unittest/python/test_dimensions.py" "python/eigenpy")
diff --git a/unittest/python/test_dimensions.py b/unittest/python/test_dimensions.py
new file mode 100644
index 000000000..3ccc354b7
--- /dev/null
+++ b/unittest/python/test_dimensions.py
@@ -0,0 +1,14 @@
+from __future__ import print_function
+
+import eigenpy
+import numpy as np
+
+quat = eigenpy.Quaternion()
+# By default, we convert as numpy.matrix
+coeffs_vector = quat.coeffs() 
+assert len(coeffs_vector.shape) == 2
+
+# Switch to numpy.array
+eigenpy.switchToNumpyArray()
+coeffs_vector = quat.coeffs() 
+assert len(coeffs_vector.shape) == 1