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jcarpentjcarpent
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core: add dedicated file for NumpyType
1 parent d78bfea commit 3ad7a2f

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3 files changed

+140
-119
lines changed

3 files changed

+140
-119
lines changed

‎CMakeLists.txt‎

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@@ -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

‎include/eigenpy/details.hpp‎

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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"
@@ -64,125 +65,6 @@ namespace eigenpy
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namespace bp = boost::python;
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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 getInstance().CurrentNumpyType; }
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static bp::object make(PyArrayObject* pyArray, bool copy = false)
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{ return make((PyObject*)pyArray,copy); }
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static bp::object make(PyObject* pyObj, bool copy = false)
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{
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bp::object m;
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if(isMatrix())
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m = getInstance().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(isArray())
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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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getInstance().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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getInstance().getType() = MATRIX_TYPE;
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}
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static NP_TYPE & getType()
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{
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return getInstance().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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if(getInstance().isMatrix()) return false;
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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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np_type = 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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NP_TYPE np_type;
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};
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template<typename MatType, bool IsVectorAtCompileTime = MatType::IsVectorAtCompileTime>
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struct initEigenObject
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{

‎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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/*
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* Copyright 2018-2020, INRIA
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*/
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#ifndef __eigenpy_numpy_type_hpp__
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#define __eigenpy_numpy_type_hpp__
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#include "eigenpy/fwd.hpp"
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#include <iostream>
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#include <patchlevel.h> // For PY_MAJOR_VERSION
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namespace eigenpy
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{
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namespace bp = boost::python;
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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 getInstance().CurrentNumpyType; }
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static bp::object make(PyArrayObject* pyArray, bool copy = false)
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{ return make((PyObject*)pyArray,copy); }
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static bp::object make(PyObject* pyObj, bool copy = false)
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{
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bp::object m;
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if(isMatrix())
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m = getInstance().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(isArray())
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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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getInstance().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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getInstance().getType() = MATRIX_TYPE;
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}
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static NP_TYPE & getType()
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{
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return getInstance().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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if(getInstance().isMatrix()) return false;
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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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np_type = 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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NP_TYPE np_type;
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};
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}
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#endif // ifndef __eigenpy_numpy_type_hpp__

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