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Merged
merged 2 commits into from
Jun 28, 2019
Merged

core: make np_type static thhrough a Singleton #66

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core: make np_type static thhrough a Singleton
jcarpent Jun 28, 2019
070d223
test: add test for the dimensions checking
jcarpent Jun 28, 2019
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13 changes: 6 additions & 7 deletions include/eigenpy/details.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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@jmirabel jmirabel Jul 1, 2019

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Are you sure you solved the issue ?
I think you should move the definition of this function to a non-installed cc file.

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@jcarpent jcarpent Jul 1, 2019

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Both are working of course.

}

protected:
Expand All @@ -121,6 +122,7 @@ namespace eigenpy
//NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());

CurrentNumpyType = NumpyMatrixObject; // default conversion
getType() = MATRIX_TYPE;
}

bp::object CurrentNumpyType;
Expand All @@ -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
{
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1 change: 1 addition & 0 deletions unittest/CMakeLists.txt
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Expand Up @@ -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")
14 changes: 14 additions & 0 deletions unittest/python/test_dimensions.py
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@@ -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