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jcarpentjcarpent
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Merge pull request #153 from jcarpent/devel
Fix potential bug introduced in 2.0.0
2 parents 27e7995 + 3e93257 commit dffd691

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6 files changed

+147
-119
lines changed

6 files changed

+147
-119
lines changed

‎CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -109,6 +109,7 @@ SET(${PROJECT_NAME}_HEADERS
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include/eigenpy/geometry.hpp
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include/eigenpy/geometry-conversion.hpp
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include/eigenpy/memory.hpp
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include/eigenpy/numpy-type.hpp
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include/eigenpy/registration.hpp
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include/eigenpy/angle-axis.hpp
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include/eigenpy/quaternion.hpp

‎cmake‎

Submodule cmake updated 1 file

‎include/eigenpy/details.hpp‎

Lines changed: 1 addition & 118 deletions
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@@ -13,6 +13,7 @@
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#include <iostream>
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#include "eigenpy/eigenpy.hpp"
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#include "eigenpy/numpy-type.hpp"
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#include "eigenpy/registration.hpp"
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#include "eigenpy/map.hpp"
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#include "eigenpy/exception.hpp"
@@ -64,124 +65,6 @@ namespace eigenpy
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namespace bp = boost::python;
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67-
enum NP_TYPE
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{
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MATRIX_TYPE,
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ARRAY_TYPE
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};
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struct NumpyType
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{
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static NumpyType & getInstance()
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{
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static NumpyType instance;
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return instance;
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}
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operator bp::object () { return CurrentNumpyType; }
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bp::object make(PyArrayObject* pyArray, bool copy = false)
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{ return make((PyObject*)pyArray,copy); }
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bp::object make(PyObject* pyObj, bool copy = false)
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{
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bp::object m;
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if(PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(CurrentNumpyType.ptr()),NumpyMatrixType))
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m = NumpyMatrixObject(bp::object(bp::handle<>(pyObj)), bp::object(), copy);
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// m = NumpyAsMatrixObject(bp::object(bp::handle<>(pyObj)));
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else if(PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(CurrentNumpyType.ptr()),NumpyArrayType))
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m = bp::object(bp::handle<>(pyObj)); // nothing to do here
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Py_INCREF(m.ptr());
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return m;
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}
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static void setNumpyType(bp::object & obj)
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{
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PyTypeObject * obj_type = PyType_Check(obj.ptr()) ? reinterpret_cast<PyTypeObject*>(obj.ptr()) : obj.ptr()->ob_type;
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if(PyType_IsSubtype(obj_type,getInstance().NumpyMatrixType))
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switchToNumpyMatrix();
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else if(PyType_IsSubtype(obj_type,getInstance().NumpyArrayType))
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switchToNumpyArray();
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}
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static void switchToNumpyArray()
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{
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getInstance().CurrentNumpyType = getInstance().NumpyArrayObject;
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getType() = ARRAY_TYPE;
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}
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static void switchToNumpyMatrix()
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{
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getInstance().CurrentNumpyType = getInstance().NumpyMatrixObject;
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getType() = MATRIX_TYPE;
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}
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static NP_TYPE & getType()
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{
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static NP_TYPE np_type;
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return np_type;
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}
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static bp::object getNumpyType()
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{
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return getInstance().CurrentNumpyType;
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}
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static const PyTypeObject * getNumpyMatrixType()
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{
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return getInstance().NumpyMatrixType;
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}
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static const PyTypeObject * getNumpyArrayType()
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{
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return getInstance().NumpyArrayType;
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}
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static bool isMatrix()
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{
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return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
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getInstance().NumpyMatrixType);
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}
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static bool isArray()
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{
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return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
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getInstance().NumpyArrayType);
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}
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protected:
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NumpyType()
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{
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pyModule = bp::import("numpy");
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#if PY_MAJOR_VERSION >= 3
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// TODO I don't know why this Py_INCREF is necessary.
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// Without it, the destructor of NumpyType SEGV sometimes.
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Py_INCREF(pyModule.ptr());
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#endif
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NumpyMatrixObject = pyModule.attr("matrix");
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NumpyMatrixType = reinterpret_cast<PyTypeObject*>(NumpyMatrixObject.ptr());
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NumpyArrayObject = pyModule.attr("ndarray");
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NumpyArrayType = reinterpret_cast<PyTypeObject*>(NumpyArrayObject.ptr());
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//NumpyAsMatrixObject = pyModule.attr("asmatrix");
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//NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());
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CurrentNumpyType = NumpyArrayObject; // default conversion
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getType() = ARRAY_TYPE;
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}
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bp::object CurrentNumpyType;
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bp::object pyModule;
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// Numpy types
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bp::object NumpyMatrixObject; PyTypeObject * NumpyMatrixType;
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//bp::object NumpyAsMatrixObject; PyTypeObject * NumpyAsMatrixType;
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bp::object NumpyArrayObject; PyTypeObject * NumpyArrayType;
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};
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18568
template<typename MatType, bool IsVectorAtCompileTime = MatType::IsVectorAtCompileTime>
18669
struct initEigenObject
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{

‎include/eigenpy/map.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -3,6 +3,9 @@
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* Copyright 2018-2020, INRIA
44
*/
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6+
#ifndef __eigenpy_map_hpp__
7+
#define __eigenpy_map_hpp__
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#include "eigenpy/fwd.hpp"
710
#include <numpy/arrayobject.h>
811
#include "eigenpy/exception.hpp"
@@ -126,3 +129,5 @@ namespace eigenpy
126129
}
127130

128131
} // namespace eigenpy
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133+
#endif // define __eigenpy_map_hpp__

‎include/eigenpy/numpy-type.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,138 @@
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/*
2+
* Copyright 2018-2020, INRIA
3+
*/
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5+
#ifndef __eigenpy_numpy_type_hpp__
6+
#define __eigenpy_numpy_type_hpp__
7+
8+
#include "eigenpy/fwd.hpp"
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10+
#include <iostream>
11+
#include <patchlevel.h> // For PY_MAJOR_VERSION
12+
13+
namespace eigenpy
14+
{
15+
namespace bp = boost::python;
16+
17+
enum NP_TYPE
18+
{
19+
MATRIX_TYPE,
20+
ARRAY_TYPE
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};
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23+
struct NumpyType
24+
{
25+
26+
static NumpyType & getInstance()
27+
{
28+
static NumpyType instance;
29+
return instance;
30+
}
31+
32+
operator bp::object () { return getInstance().CurrentNumpyType; }
33+
34+
static bp::object make(PyArrayObject* pyArray, bool copy = false)
35+
{ return make((PyObject*)pyArray,copy); }
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37+
static bp::object make(PyObject* pyObj, bool copy = false)
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{
39+
bp::object m;
40+
if(isMatrix())
41+
m = getInstance().NumpyMatrixObject(bp::object(bp::handle<>(pyObj)), bp::object(), copy);
42+
// m = NumpyAsMatrixObject(bp::object(bp::handle<>(pyObj)));
43+
else if(isArray())
44+
m = bp::object(bp::handle<>(pyObj)); // nothing to do here
45+
46+
Py_INCREF(m.ptr());
47+
return m;
48+
}
49+
50+
static void setNumpyType(bp::object & obj)
51+
{
52+
PyTypeObject * obj_type = PyType_Check(obj.ptr()) ? reinterpret_cast<PyTypeObject*>(obj.ptr()) : obj.ptr()->ob_type;
53+
if(PyType_IsSubtype(obj_type,getInstance().NumpyMatrixType))
54+
switchToNumpyMatrix();
55+
else if(PyType_IsSubtype(obj_type,getInstance().NumpyArrayType))
56+
switchToNumpyArray();
57+
}
58+
59+
static void switchToNumpyArray()
60+
{
61+
getInstance().CurrentNumpyType = getInstance().NumpyArrayObject;
62+
getInstance().getType() = ARRAY_TYPE;
63+
}
64+
65+
static void switchToNumpyMatrix()
66+
{
67+
getInstance().CurrentNumpyType = getInstance().NumpyMatrixObject;
68+
getInstance().getType() = MATRIX_TYPE;
69+
}
70+
71+
static NP_TYPE & getType()
72+
{
73+
return getInstance().np_type;
74+
}
75+
76+
static bp::object getNumpyType()
77+
{
78+
return getInstance().CurrentNumpyType;
79+
}
80+
81+
static const PyTypeObject * getNumpyMatrixType()
82+
{
83+
return getInstance().NumpyMatrixType;
84+
}
85+
86+
static const PyTypeObject * getNumpyArrayType()
87+
{
88+
return getInstance().NumpyArrayType;
89+
}
90+
91+
static bool isMatrix()
92+
{
93+
return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
94+
getInstance().NumpyMatrixType);
95+
}
96+
97+
static bool isArray()
98+
{
99+
if(getInstance().isMatrix()) return false;
100+
return PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(getInstance().CurrentNumpyType.ptr()),
101+
getInstance().NumpyArrayType);
102+
}
103+
104+
protected:
105+
NumpyType()
106+
{
107+
pyModule = bp::import("numpy");
108+
#if PY_MAJOR_VERSION >= 3
109+
// TODO I don't know why this Py_INCREF is necessary.
110+
// Without it, the destructor of NumpyType SEGV sometimes.
111+
Py_INCREF(pyModule.ptr());
112+
#endif
113+
114+
NumpyMatrixObject = pyModule.attr("matrix");
115+
NumpyMatrixType = reinterpret_cast<PyTypeObject*>(NumpyMatrixObject.ptr());
116+
NumpyArrayObject = pyModule.attr("ndarray");
117+
NumpyArrayType = reinterpret_cast<PyTypeObject*>(NumpyArrayObject.ptr());
118+
//NumpyAsMatrixObject = pyModule.attr("asmatrix");
119+
//NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());
120+
121+
CurrentNumpyType = NumpyArrayObject; // default conversion
122+
np_type = ARRAY_TYPE;
123+
}
124+
125+
bp::object CurrentNumpyType;
126+
bp::object pyModule;
127+
128+
// Numpy types
129+
bp::object NumpyMatrixObject; PyTypeObject * NumpyMatrixType;
130+
//bp::object NumpyAsMatrixObject; PyTypeObject * NumpyAsMatrixType;
131+
bp::object NumpyArrayObject; PyTypeObject * NumpyArrayType;
132+
133+
NP_TYPE np_type;
134+
};
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}
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#endif // ifndef __eigenpy_numpy_type_hpp__

‎unittest/python/test_dimensions.py‎

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@@ -5,6 +5,7 @@
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quat = eigenpy.Quaternion()
77
# By default, we convert as numpy.matrix
8+
eigenpy.switchToNumpyMatrix()
89
coeffs_vector = quat.coeffs()
910
assert len(coeffs_vector.shape) == 2
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