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Merge pull request #337 from jcarpent/devel
Simplify alignment procedure
2 parents 21f608d + 1697ac0 commit 06c255a

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-109
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‎cmake‎

Submodule cmake updated 1 file

‎include/eigenpy/alignment.hpp‎

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@@ -20,6 +20,15 @@ struct aligned_storage {
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};
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};
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template <class Data>
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struct aligned_instance {
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PyObject_VAR_HEAD PyObject *dict;
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PyObject *weakrefs;
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boost::python::instance_holder *objects;
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typename aligned_storage<sizeof(Data)>::type storage;
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};
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} // namespace eigenpy
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namespace boost {
@@ -62,6 +71,19 @@ struct referent_storage<const Eigen::Quaternion<Scalar, Options> &> {
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} // namespace python
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} // namespace boost
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namespace boost {
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namespace python {
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namespace objects {
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// Force alignment of instance with value_holder
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template <typename Derived>
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struct instance<value_holder<Derived> >
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: ::eigenpy::aligned_instance<value_holder<Derived> > {};
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} // namespace objects
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} // namespace python
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} // namespace boost
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namespace eigenpy {
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template <class T>

‎include/eigenpy/fwd.hpp‎

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@@ -5,6 +5,50 @@
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#ifndef __eigenpy_fwd_hpp__
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#define __eigenpy_fwd_hpp__
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#if defined(__clang__)
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#define EIGENPY_CLANG_COMPILER
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#elif defined(__GNUC__)
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#define EIGENPY_GCC_COMPILER
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#elif defined(_MSC_VER)
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#define EIGENPY_MSVC_COMPILER
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#endif
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#define EIGENPY_STRING_LITERAL(string) #string
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#define EIGENPY_STRINGIZE(string) EIGENPY_STRING_LITERAL(string)
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#define _EIGENPY_PPCAT(A, B) A##B
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#define EIGENPY_PPCAT(A, B) _EIGENPY_PPCAT(A, B)
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#define EIGENPY_STRINGCAT(A, B) A B
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// For more details, visit
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// https://stackoverflow.com/questions/171435/portability-of-warning-preprocessor-directive
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#if defined(EIGENPY_CLANG_COMPILER) || defined(EIGENPY_GCC_COMPILER)
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#define EIGENPY_PRAGMA(x) _Pragma(#x)
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#define EIGENPY_PRAGMA_MESSAGE(the_message) \
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EIGENPY_PRAGMA(GCC message the_message)
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#define EIGENPY_PRAGMA_WARNING(the_message) \
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EIGENPY_PRAGMA(GCC warning the_message)
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#define EIGENPY_PRAGMA_DEPRECATED(the_message) \
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EIGENPY_PRAGMA_WARNING(Deprecated : the_message)
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#define EIGENPY_PRAGMA_DEPRECATED_HEADER(old_header, new_header) \
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EIGENPY_PRAGMA_WARNING( \
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Deprecated header file \
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: #old_header has been replaced \
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by #new_header.\n Please use #new_header instead of #old_header.)
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#elif defined(WIN32)
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#define EIGENPY_PRAGMA(x) __pragma(#x)
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#define EIGENPY_PRAGMA_MESSAGE(the_message) \
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EIGENPY_PRAGMA(message(#the_message))
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#define EIGENPY_PRAGMA_WARNING(the_message) \
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EIGENPY_PRAGMA(message(EIGENPY_STRINGCAT("WARNING: ", the_message)))
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#endif
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#define EIGENPY_DEPRECATED_MACRO(macro, the_message) \
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EIGENPY_PRAGMA_WARNING( \
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EIGENPY_STRINGCAT("this macro is deprecated: ", the_message))
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#define EIGENPY_DEPRECATED_FILE(the_message) \
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EIGENPY_PRAGMA_WARNING( \
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EIGENPY_STRINGCAT("this file is deprecated: ", the_message))
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#include "eigenpy/config.hpp"
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// Silence a warning about a deprecated use of boost bind by boost python

‎include/eigenpy/memory.hpp‎

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@@ -1,111 +1,23 @@
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/*
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* Copyright 2014-2019, CNRS
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* Copyright 2018-2022, INRIA
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* Copyright 2018-2023, INRIA
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*/
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6-
#ifndef __eigenpy_memory_hpp__
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#define __eigenpy_memory_hpp__
8-
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#include "eigenpy/fwd.hpp"
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#if PY_VERSION_HEX < 0x030900A4 && !defined(Py_SET_SIZE)
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static inline void _Py_SET_SIZE(PyVarObject* ob, Py_ssize_t size) {
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ob->ob_size = size;
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}
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#define Py_SET_SIZE(ob, size) _Py_SET_SIZE((PyVarObject*)(ob), size)
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#endif
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EIGENPY_DEPRECATED_FILE(
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"This header file is now useless and should not be included anymore.")
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#ifndef __eigenpy_memory_hpp__
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#define __eigenpy_memory_hpp__
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/**
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* This section contains a convenience MACRO which allows an easy specialization
2016
* of Boost Python Object allocator for struct data types containing Eigen
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* objects and requiring strict alignment.
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*
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* This code was proposed as an stackoverflow answer:
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* http://stackoverflow.com/questions/13177573/how-to-expose-aligned-class-with-boost-python/29694518
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* Leading to this page proposing the solution:
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* http://fhtagn.net/prog/2015/04/16/quaternion_boost_python.html
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*
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*/
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#define EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(...) \
30-
namespace boost { \
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namespace python { \
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namespace objects { \
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template <> \
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struct instance<value_holder<__VA_ARGS__> > { \
35-
typedef value_holder<__VA_ARGS__> Data; \
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PyObject_VAR_HEAD PyObject* dict; \
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PyObject* weakrefs; \
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instance_holder* objects; \
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\
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typedef type_with_alignment< ::boost::alignment_of<Data>::value>::type \
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align_t; \
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\
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union { \
44-
align_t align; \
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char bytes[sizeof(Data) + EIGENPY_DEFAULT_ALIGN_BYTES]; \
46-
} storage; \
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}; \
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\
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template <class Derived> \
50-
struct make_instance_impl<__VA_ARGS__, value_holder<__VA_ARGS__>, Derived> { \
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typedef __VA_ARGS__ T; \
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typedef value_holder<__VA_ARGS__> Holder; \
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typedef objects::instance<Holder> instance_t; \
54-
\
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template <class Arg> \
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static inline PyObject* execute(Arg& x) { \
57-
BOOST_MPL_ASSERT((mpl::or_<is_class<T>, is_union<T> >)); \
58-
\
59-
PyTypeObject* type = Derived::get_class_object(x); \
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\
61-
if (type == 0) return python::detail::none(); \
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\
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PyObject* raw_result = type->tp_alloc( \
64-
type, objects::additional_instance_size<Holder>::value); \
65-
if (raw_result != 0) { \
66-
python::detail::decref_guard protect(raw_result); \
67-
instance_t* instance = (instance_t*)(void*)raw_result; \
68-
Holder* holder = \
69-
Derived::construct(&instance->storage, (PyObject*)instance, x); \
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holder->install(raw_result); \
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\
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Py_ssize_t holder_offset = \
73-
reinterpret_cast<Py_ssize_t>(holder) - \
74-
reinterpret_cast<Py_ssize_t>(&instance->storage) + \
75-
static_cast<Py_ssize_t>(offsetof(instance_t, storage)); \
76-
Py_SET_SIZE(instance, holder_offset); \
77-
\
78-
protect.cancel(); \
79-
} \
80-
return raw_result; \
81-
} \
82-
}; \
83-
\
84-
template <> \
85-
struct make_instance<__VA_ARGS__, value_holder<__VA_ARGS__> > \
86-
: make_instance_impl< \
87-
__VA_ARGS__, value_holder<__VA_ARGS__>, \
88-
make_instance<__VA_ARGS__, value_holder<__VA_ARGS__> > > { \
89-
template <class U> \
90-
static inline PyTypeObject* get_class_object(U&) { \
91-
return converter::registered<__VA_ARGS__>::converters \
92-
.get_class_object(); \
93-
} \
94-
\
95-
static inline value_holder<__VA_ARGS__>* construct( \
96-
void* storage, PyObject* instance, \
97-
reference_wrapper<__VA_ARGS__ const> x) { \
98-
void* aligned_storage = reinterpret_cast<void*>( \
99-
(reinterpret_cast<size_t>(storage) & \
100-
~(size_t(EIGENPY_DEFAULT_ALIGN_BYTES - 1))) + \
101-
EIGENPY_DEFAULT_ALIGN_BYTES); \
102-
value_holder<__VA_ARGS__>* new_holder = \
103-
new (aligned_storage) value_holder<__VA_ARGS__>(instance, x); \
104-
return new_holder; \
105-
} \
106-
}; \
107-
} \
108-
} \
109-
}
19+
#define EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(...) \
20+
EIGENPY_DEPRECATED_MACRO(EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(), \
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"it is no more needed.")
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#endif // __eigenpy_memory_hpp__

‎unittest/std_vector.cpp‎

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@@ -7,26 +7,24 @@
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#include "eigenpy/eigen-from-python.hpp"
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#include "eigenpy/std-vector.hpp"
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10-
template <typename MatType,
11-
typename Allocator = Eigen::aligned_allocator<MatType> >
12-
void printVectorOfMatrix(const std::vector<MatType, Allocator> &Ms) {
10+
template <typename MatType>
11+
void printVectorOfMatrix(
12+
const std::vector<MatType, Eigen::aligned_allocator<MatType> > &Ms) {
1313
const std::size_t n = Ms.size();
1414
for (std::size_t i = 0; i < n; i++) {
1515
std::cout << "el[" << i << "] =\n" << Ms[i] << '\n';
1616
}
1717
}
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19-
template <typename MatType,
20-
typename Allocator = Eigen::aligned_allocator<MatType> >
21-
std::vector<MatType, Allocator> copy(
22-
const std::vector<MatType, Allocator> &Ms) {
23-
std::vector<MatType, Allocator> out = Ms;
19+
template <typename MatType>
20+
std::vector<MatType, Eigen::aligned_allocator<MatType> > copy(
21+
const std::vector<MatType, Eigen::aligned_allocator<MatType> > &Ms) {
22+
std::vector<MatType, Eigen::aligned_allocator<MatType> > out = Ms;
2423
return out;
2524
}
2625

27-
template <typename MatType,
28-
typename Allocator = Eigen::aligned_allocator<MatType> >
29-
void setZero(std::vector<MatType, Allocator> &Ms) {
26+
template <typename MatType>
27+
void setZero(std::vector<MatType, Eigen::aligned_allocator<MatType> > &Ms) {
3028
for (std::size_t i = 0; i < Ms.size(); i++) {
3129
Ms[i].setZero();
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}

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