core: fix bug

It is not possible to convert from MatTypeBase to MatType. I put some codes that might be changed.

Author: jcarpent

include/eigenpy/details.hpp

@@ -16,6 +16,41 @@
 #include "eigenpy/registration.hpp"
 #include "eigenpy/map.hpp"
 
+namespace boost { namespace python { namespace converter {
+
+template<class MatType>
+struct implicit<Eigen::MatrixBase<MatType>,MatType>
+{
+  typedef Eigen::MatrixBase<MatType> Source;
+  typedef MatType Target;
+  
+  static void* convertible(PyObject* obj)
+  {
+    // Find a converter which can produce a Source instance from
+    // obj. The user has told us that Source can be converted to
+    // Target, and instantiating construct() below, ensures that
+    // at compile-time.
+    return implicit_rvalue_convertible_from_python(obj, registered<Source>::converters)
+    ? obj : 0;
+  }
+  
+  static void construct(PyObject* obj, rvalue_from_python_stage1_data* data)
+  {
+    void* storage = ((rvalue_from_python_storage<Target>*)data)->storage.bytes;
+    
+    arg_from_python<Source> get_source(obj);
+    bool convertible = get_source.convertible();
+    BOOST_VERIFY(convertible);
+    
+    new (storage) Target(get_source().derived());
+    
+    // record successful construction
+    data->convertible = storage;
+  }
+};
+
+}}} // namespace boost::python::converter
+
 #define GET_PY_ARRAY_TYPE(array) PyArray_ObjectType(reinterpret_cast<PyObject *>(array), 0)
 
 namespace eigenpy
@@ -531,13 +566,13 @@ namespace eigenpy
 
       // Add also conversion to Eigen::MatrixBase<MatType>
       typedef Eigen::MatrixBase<MatType> MatTypeBase;
+//      bp::implicitly_convertible<MatTypeBase,MatType>();
       bp::implicitly_convertible<MatType,MatTypeBase>();
-      bp::implicitly_convertible<MatTypeBase,MatType>();
     }
   };
 
 #if EIGEN_VERSION_AT_LEAST(3,2,0)
-  /// Template specialization for Eigen::Ref
+  // Template specialization for Eigen::Ref
   template<typename MatType>
   struct EigenFromPyConverter< eigenpy::Ref<MatType> >
   {