python: fix issue when calling is_approx

There is a shift in memory that I cannot understand in release mode

Author: jcarpent

include/eigenpy/utils/is-approx.hpp

@@ -10,11 +10,17 @@
 namespace eigenpy
 {
   template<typename MatrixType1, typename MatrixType2>
-  inline bool is_approx(const Eigen::MatrixBase<MatrixType1> & mat1,
-                        const Eigen::MatrixBase<MatrixType2> & mat2,
-                        const typename MatrixType1::Scalar & prec = Eigen::NumTraits<typename MatrixType1::Scalar>::dummy_precision())
+  inline EIGEN_DONT_INLINE bool is_approx(const MatrixType1 & mat1,
+                                          const MatrixType2 & mat2,
+                                          const typename MatrixType1::Scalar & prec)
   {
-    return mat1.isApprox(mat2,prec);
+    return mat1.derived().isApprox(mat2.derived(),prec);
+  }
+
+  template<typename MatrixType1, typename MatrixType2>
+  inline bool is_approx(const MatrixType1 & mat1, const MatrixType2 & mat2)
+  {
+    return is_approx(mat1,mat2,Eigen::NumTraits<typename MatrixType1::Scalar>::dummy_precision());
   }
 }
 

python/main.cpp

@@ -17,24 +17,8 @@
 
 #include <boost/python/scope.hpp>
 
-#define DEFINE_IS_APPROX(MatType) \
-  BOOST_PYTHON_FUNCTION_OVERLOADS(is_approx_overload##MatType,eigenpy::is_approx,2,3)
-
-#define EXPOSE_IS_APPROX(MatType) \
-  bp::def("is_approx", \
-          (bool (*)(const Eigen::MatrixBase<MatType> &, \
-                    const Eigen::MatrixBase<MatType> &, \
-                    const MatType::Scalar &))eigenpy::is_approx<MatType,MatType>, \
-                    is_approx_overload##MatType(bp::args("A","B","prec"), \
-          "Returns True if A is approximately equal to B, within the precision determined by prec."))
-
-
 using namespace eigenpy;
 
-DEFINE_IS_APPROX(MatrixXd)
-DEFINE_IS_APPROX(MatrixXf)
-
-
 BOOST_PYTHON_MODULE(eigenpy)
 {
   namespace bp = boost::python;
@@ -62,8 +46,15 @@ BOOST_PYTHON_MODULE(eigenpy)
 
   {
     using namespace Eigen;
-    EXPOSE_IS_APPROX(MatrixXd);
-    EXPOSE_IS_APPROX(MatrixXf);
+    bp::def("is_approx",(bool (*)(const MatrixXd &, const MatrixXd &, const double &))&is_approx<MatrixXd,MatrixXd>,
+            bp::args("A","B","prec"),
+            "Returns True if A is approximately equal to B, within the precision determined by prec.");
+    bp::def("is_approx",(bool (*)(const MatrixXd &, const MatrixXd &))&is_approx<MatrixXd,MatrixXd>,
+            bp::args("A","B"),
+    "Returns True if A is approximately equal to B..");
+    
+//    EXPOSE_IS_APPROX(MatrixXd);
+//    EXPOSE_IS_APPROX(MatrixXf);
   }
 
   exposeDecompositions();