Merge pull request #375 from jcarpent/devel

Enhance support of Tensor module in external applications

Author: jorisv

.github/workflows/macos-linux-conda.yml

@@ -15,7 +15,7 @@ jobs:
         os: ["ubuntu-latest", "macos-latest"]
         cxx_options: ['', '-mavx2']
         build_type: [Release, Debug]
-        python-version: ["3.10", "3.11", "3.12"]
+        python-version: ["3.8", "3.12"]
 
         include:
           - os: ubuntu-latest

.github/workflows/windows-conda.yml

@@ -19,7 +19,7 @@ jobs:
       with:
         activate-environment: eigenpy
         environment-file: .github/workflows/conda/environment.yml
-        python-version: 3.7
+        python-version: "3.10"
     - name: Build Eigenpy
       shell: cmd /C CALL {0}
       env:
@@ -51,11 +51,6 @@ jobs:
         cmake --build . --config Release --target install
         if errorlevel 1 exit 1
 
-        :: Build stubs
-        git clone https://github.com/jcarpent/pybind11-stubgen.git
-        python "%CD%\pybind11-stubgen\pybind11_stubgen\__init__.py" -o %CONDA_PREFIX%\Lib\site-packages\eigenpy eigenpy --boost-python --ignore-invalid signature --no-setup-py --root-module-suffix ""
-        if errorlevel 1 exit 1
-
         :: Testing
         ctest --output-on-failure -C Release -V
         if errorlevel 1 exit 1

CHANGELOG.md

@@ -6,6 +6,12 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Added
+- Add new helper functions to check Tensor support
+
+### Fixed
+- Fix stub generation on Windows
+
 ## [3.1.3] - 2023-11-09
 
 ### Fixed

CMakeLists.txt

@@ -243,11 +243,11 @@ endif(SUFFIX_SO_VERSION)
 
 if(NOT WIN32)
   target_compile_options(
-    ${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj>
+    ${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj -MP>
                             "-Wno-conversion")
 else()
   target_compile_options(${PROJECT_NAME}
-                         PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj>)
+                         PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj -MP>)
   target_compile_definitions(${PROJECT_NAME} PUBLIC "HAVE_SNPRINTF")
 endif()
 

README.md

@@ -10,22 +10,22 @@ EigenPy — Versatile and efficient Python bindings between Numpy and Eigen
   <a href="https://github.com/psf/black"><img src="https://img.shields.io/badge/code%20style-black-000000.svg" alt="Code style: black"></a>
 </p>
 
-**EigenPy** is an open source framework which allows to bind the famous [Eigen](http://eigen.tuxfamily.org) C++ library in Python via Boost.Python.
+**EigenPy** is an open-source framework that allows the binding of the famous [Eigen](http://eigen.tuxfamily.org) C++ library in Python via Boost.Python.
 
 **EigenPy** provides:
- - full memory sharing between Numpy and Eigen avoiding memory allocation
+ - full memory sharing between Numpy and Eigen, avoiding memory allocation
  - full support Eigen::Ref avoiding memory allocation
  - full support of the Eigen::Tensor module
  - exposition of the Geometry module of Eigen for easy code prototyping
- - standard matrix decomposion routines of Eigen such as the Cholesky decomposition, SVD decomposition, QR decomposition, and etc.
+ - standard matrix decomposion routines of Eigen such as the Cholesky decomposition, SVD decomposition, QR decomposition, etc.
  - full support of SWIG objects
  - full support of runtime declaration of Numpy scalar types
  - extended API to expose std::vector types
  - full support of vectorization between C++ and Python (all the hold objects are properly aligned in memory)
 
 ## Setup
 
-The installation of **EigenPy** on your computer is made easy for Linux/BSD, Mac OS X and Windows environments.
+The installation of **EigenPy** on your computer is made easy for Linux/BSD, Mac OS X, and Windows environments.
 
 ### The Conda approach
 
@@ -36,7 +36,7 @@ conda install eigenpy -c conda-forge
 
 ### Ubuntu
 
-You can easily install **EigenPy** from binairies.
+You can easily install **EigenPy** from binaries.
 
 #### Add robotpkg apt repository
 1. Add robotpkg as source repository to apt:
@@ -47,7 +47,7 @@ sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debia
 ```
 curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
 ```
-3. You need to run at least once apt update to fetch the package descriptions:
+3. You need to run at least one apt update to fetch the package descriptions:
 ```bash
 sudo apt-get update
 ```
@@ -58,12 +58,12 @@ sudo apt-get update
 ```bash
 sudo apt install robotpkg-py35-eigenpy
 ```
-where 35 should be replaced by the python 3 you want to work this (e.g. `robotpkg-py36-eigenpy` to work with Python 3.6).
+where 35 should be replaced by the Python 3, you want to work this (e.g., `robotpkg-py36-eigenpy` to work with Python 3.6).
 
 ### Mac OS X
 
 The installation of **EigenPy** on Mac OS X is made via [HomeBrew](https://brew.sh/).
-You just need to register the tap of the sofware repository.
+You just need to register the tap of the software repository.
 
 ```
 brew tap gepetto/homebrew-gepetto
@@ -83,8 +83,9 @@ The following people have been involved in the development of **EigenPy**:
 - [Sean Yen](https://www.linkedin.com/in/seanyentw) (Microsoft): Windows integration
 - [Loïc Estève](https://github.com/lesteve) (INRIA): Conda integration
 - [Wilson Jallet](https://manifoldfr.github.io/) (INRIA/LAAS-CNRS): core developer
+- [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and manager of the project
 
-If you have taken part to the development of **EigenPy**, feel free to add your name and contribution here.
+If you have taken part in the development of **EigenPy**, feel free to add your name and contribution here.
 
 ## Acknowledgments
 

cmake

@@ -19,6 +19,8 @@ namespace eigenpy {
  */
 void EIGENPY_DLLAPI enableEigenPy();
 
+bool EIGENPY_DLLAPI withTensorSupport();
+
 /* Enable the Eigen--Numpy serialization for the templated MatType class.*/
 template <typename MatType>
 void enableEigenPySpecific();

include/eigenpy/eigenpy.hpp

@@ -15,9 +15,13 @@ include("${JRL_CMAKE_MODULES}/stubs.cmake")
 add_custom_target(python)
 set_target_properties(python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
-add_library(${PYWRAP} SHARED main.cpp)
+add_library(${PYWRAP} MODULE main.cpp)
 add_dependencies(python ${PYWRAP})
 target_link_libraries(${PYWRAP} PUBLIC ${PROJECT_NAME})
+
+python_build_get_target(python_build_target)
+add_dependencies(${PYWRAP} ${python_build_target})
+
 # BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS spews conversion warnings from int to
 # long unsigned int. Unfortunately, using literals does not work in a macro. As
 # such, this turns them off for the entire wrapper:
@@ -56,8 +60,10 @@ install(TARGETS ${PYWRAP} DESTINATION ${${PYWRAP}_INSTALL_DIR})
 if(GENERATE_PYTHON_STUBS)
   load_stubgen()
 
+  # Set PYWRAP and PROJECT_NAME as stubs dependencies PROJECT_NAME is mandatory
+  # (even if it's a PYWRAP dependency) to find PROJECT_NAME name DLL on windows
   generate_stubs(${CMAKE_CURRENT_BINARY_DIR} ${PROJECT_NAME}
-                 ${ABSOLUTE_PYTHON_SITELIB} ${PYWRAP})
+                 ${ABSOLUTE_PYTHON_SITELIB} ${PYWRAP} ${PROJECT_NAME})
 endif(GENERATE_PYTHON_STUBS)
 
 # --- INSTALL SCRIPTS

python/CMakeLists.txt

@@ -60,4 +60,12 @@ void enableEigenPy() {
   exposeNoneType();
 }
 
+bool withTensorSupport() {
+#ifdef EIGENPY_WITH_TENSOR_SUPPORT
+  return true;
+#else
+  return false;
+#endif
+}
+
 }  // namespace eigenpy