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Merge pull request #596 from jcarpent/topic/eigen5
Fix compilation issues related to Eigen 5
2 parents ff5d79c + e4a9c0d commit 3bd6b04

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+82
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‎.github/workflows/nix.yml‎

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@@ -16,14 +16,15 @@ jobs:
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fail-fast: false
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matrix:
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os: [ubuntu, macos]
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eigen: [3, 5]
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steps:
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- uses: actions/checkout@v5
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- uses: cachix/install-nix-action@v31
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- uses: cachix/cachix-action@v16
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with:
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name: gepetto
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authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
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- run: nix build -L
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- run: nix build -L ".#eigenpy-eigen${{ matrix.eigen }}"
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check:
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if: always()

‎CHANGELOG.md‎

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@@ -15,6 +15,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
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### Fixed
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- Fix partly the support of the change of API of GeneralizedEigenSolver in Eigen 5+ ([#594](https://github.com/stack-of-tasks/eigenpy/pull/594))
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- Fix Eigen decompositions and solvers for Eigen 5 ([#596](https://github.com/stack-of-tasks/eigenpy/pull/596))
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## [3.12.0] - 2025-08-12
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‎flake.nix‎

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@@ -19,16 +19,27 @@
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};
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devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
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packages = {
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default = self'.packages.eigenpy;
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eigen = pkgs.eigen.overrideAttrs {
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# Apply https://gitlab.com/libeigen/eigen/-/merge_requests/977
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postPatch = ''
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substituteInPlace Eigen/src/SVD/BDCSVD.h \
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--replace-fail "if (l == 0) {" "if (i >= k && l == 0) {"
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'';
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};
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eigenpy =
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(pkgs.python3Packages.eigenpy.override { inherit (self'.packages) eigen; }).overrideAttrs
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default = self'.packages.eigenpy-eigen5;
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eigen3 = pkgs.eigen.overrideAttrs (super: rec {
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version = "3.4.1";
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src = pkgs.fetchFromGitLab {
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inherit (super.src) owner repo;
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tag = version;
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hash = "sha256-NSq1tUfy2thz5gtsyASsKeYE4vMf71aSG4uXfrX86rk=";
29+
};
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patches = [ ];
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postPatch = "";
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});
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eigen5 = self'.packages.eigen3.overrideAttrs (super: rec {
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version = "5.0.0";
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src = pkgs.fetchFromGitLab {
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inherit (super.src) owner repo;
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tag = version;
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hash = "sha256-L1KUFZsaibC/FD6abTXrT3pvaFhbYnw+GaWsxM2gaxM=";
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};
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});
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eigenpy-eigen3 =
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(pkgs.python3Packages.eigenpy.override { eigen = self'.packages.eigen3; }).overrideAttrs
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(_: {
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src = pkgs.lib.fileset.toSource {
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root = ./.;
@@ -43,6 +54,7 @@
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];
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};
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});
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eigenpy-eigen5 = self'.packages.eigenpy-eigen3.override { eigen = self'.packages.eigen5; };
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};
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};
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};

‎include/eigenpy/decompositions/BDCSVD.hpp‎

Lines changed: 21 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -35,22 +35,27 @@ struct BDCSVDVisitor
3535

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.def("cols", &Solver::cols, bp::arg("self"),
3737
"Returns the number of columns. ")
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.def("compute",
39-
(Solver & (Solver::*)(const MatrixType &matrix)) & Solver::compute,
40-
bp::args("self", "matrix"),
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"Method performing the decomposition of given matrix. Computes "
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"Thin/Full "
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"unitaries U/V if specified using the Options template parameter "
44-
"or the class constructor. ",
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bp::return_self<>())
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.def("compute",
47-
(Solver & (Solver::*)(const MatrixType &matrix,
48-
unsigned int computationOptions)) &
49-
Solver::compute,
50-
bp::args("self", "matrix", "computationOptions"),
51-
"Method performing the decomposition of given matrix, as "
52-
"specified by the computationOptions parameter. ",
53-
bp::return_self<>())
38+
.def(
39+
"compute",
40+
+[](Solver &self, const MatrixType &matrix) -> Solver & {
41+
return self.compute(matrix);
42+
},
43+
bp::args("self", "matrix"),
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"Method performing the decomposition of given matrix. Computes "
45+
"Thin/Full "
46+
"unitaries U/V if specified using the Options template parameter "
47+
"or the class constructor. ",
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bp::return_self<>())
49+
.def(
50+
"compute",
51+
+[](Solver &self, const MatrixType &matrix,
52+
unsigned int computationOptions) -> Solver & {
53+
return self.compute(matrix, computationOptions);
54+
},
55+
bp::args("self", "matrix", "computationOptions"),
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"Method performing the decomposition of given matrix, as "
57+
"specified by the computationOptions parameter. ",
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bp::return_self<>())
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.def("rows", &Solver::rows, bp::arg("self"),
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"Returns the number of rows. ")
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.def("setSwitchSize", &Solver::setSwitchSize, bp::args("self", "s"))

‎include/eigenpy/decompositions/JacobiSVD.hpp‎

Lines changed: 23 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,9 @@ namespace eigenpy {
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template <typename JacobiSVD>
1919
struct JacobiSVDVisitor
2020
: public boost::python::def_visitor<JacobiSVDVisitor<JacobiSVD>> {
21+
typedef JacobiSVD Solver;
2122
typedef typename JacobiSVD::MatrixType MatrixType;
23+
typedef Eigen::MatrixBase<MatrixType> MatrixBaseType;
2224
typedef typename MatrixType::Scalar Scalar;
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2426
template <class PyClass>
@@ -34,23 +36,27 @@ struct JacobiSVDVisitor
3436

3537
.def("cols", &JacobiSVD::cols, bp::arg("self"),
3638
"Returns the number of columns. ")
37-
.def("compute",
38-
(JacobiSVD & (JacobiSVD::*)(const MatrixType &matrix)) &
39-
JacobiSVD::compute,
40-
bp::args("self", "matrix"),
41-
"Method performing the decomposition of given matrix. Computes "
42-
"Thin/Full "
43-
"unitaries U/V if specified using the Options template parameter "
44-
"or the class constructor. ",
45-
bp::return_self<>())
46-
.def("compute",
47-
(JacobiSVD & (JacobiSVD::*)(const MatrixType &matrix,
48-
unsigned int computationOptions)) &
49-
JacobiSVD::compute,
50-
bp::args("self", "matrix", "computationOptions"),
51-
"Method performing the decomposition of given matrix, as "
52-
"specified by the computationOptions parameter. ",
53-
bp::return_self<>())
39+
.def(
40+
"compute",
41+
+[](Solver &self, const MatrixType &matrix) -> Solver & {
42+
return self.compute(matrix);
43+
},
44+
bp::args("self", "matrix"),
45+
"Method performing the decomposition of given matrix. Computes "
46+
"Thin/Full "
47+
"unitaries U/V if specified using the Options template parameter "
48+
"or the class constructor. ",
49+
bp::return_self<>())
50+
.def(
51+
"compute",
52+
+[](Solver &self, const MatrixType &matrix,
53+
unsigned int computationOptions) -> Solver & {
54+
return self.compute(matrix, computationOptions);
55+
},
56+
bp::args("self", "matrix", "computation_options"),
57+
"Method performing the decomposition of given matrix, as "
58+
"specified by the computationOptions parameter. ",
59+
bp::return_self<>())
5460
.def("rows", &JacobiSVD::rows, bp::arg("self"),
5561
"Returns the number of rows.")
5662

‎include/eigenpy/decompositions/sparse/SparseLU.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -98,8 +98,14 @@ struct SparseLUVisitor : public boost::python::def_visitor<
9898

9999
typedef typename Solver::SCMatrix SCMatrix;
100100
typedef typename MatrixType::StorageIndex StorageIndex;
101+
102+
#if EIGEN_VERSION_AT_LEAST(3, 4, 90)
103+
typedef Eigen::Map<Eigen::SparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>>
104+
MappedSparseMatrix;
105+
#else
101106
typedef Eigen::MappedSparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>
102107
MappedSparseMatrix;
108+
#endif
103109
typedef Eigen::SparseLUMatrixLReturnType<SCMatrix> LType;
104110
typedef Eigen::SparseLUMatrixUReturnType<SCMatrix, MappedSparseMatrix> UType;
105111

‎src/decompositions/sparse-lu-solver.cpp‎

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -15,8 +15,14 @@ void exposeSparseLUSolver() {
1515

1616
typedef typename SparseLUType::Scalar Scalar;
1717
typedef typename SparseLUType::SCMatrix SCMatrix;
18-
typedef Eigen::MappedSparseMatrix<Scalar, ColMajor, StorageIndex>
18+
19+
#if EIGEN_VERSION_AT_LEAST(3, 4, 90)
20+
typedef Eigen::Map<Eigen::SparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>>
21+
MappedSparseMatrix;
22+
#else
23+
typedef Eigen::MappedSparseMatrix<Scalar, Eigen::ColMajor, StorageIndex>
1924
MappedSparseMatrix;
25+
#endif
2026

2127
SparseLUMatrixLReturnTypeVisitor<SCMatrix>::expose(
2228
("SparseLUMatrixLReturnType"));

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