Fix compatibility with Eigen 3.0.5

Author: jcarpent

src/details.hpp

@@ -85,6 +85,7 @@ namespace eigenpy
     }
   };
 
+#if EIGEN_VERSION_AT_LEAST(3,2,0)
   template<typename MatType>
   struct EigenObjectAllocator< eigenpy::Ref<MatType> >
   {
@@ -101,6 +102,7 @@ namespace eigenpy
       MapNumpy<MatType>::map(pyArray) = mat;
     }
   };
+#endif
 
   /* --- TO PYTHON -------------------------------------------------------------- */
   template<typename MatType>

src/eigenpy.hpp

@@ -19,12 +19,20 @@
 
 #include "eigenpy/fwd.hpp"
 #include "eigenpy/deprecated.hh"
+#if EIGEN_VERSION_AT_LEAST(3,2,0)
 #include "eigenpy/ref.hpp"
 
 #define ENABLE_SPECIFIC_MATRIX_TYPE(TYPE) \
   enableEigenPySpecific<TYPE>(); \
   enableEigenPySpecific< eigenpy::Ref<TYPE> >();
 
+#else
+
+#define ENABLE_SPECIFIC_MATRIX_TYPE(TYPE) \
+  enableEigenPySpecific<TYPE>();
+
+#endif
+
 namespace eigenpy
 {
   /* Enable Eigen-Numpy serialization for a set of standard MatrixBase instance. */

src/solvers/preconditioners.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
+ * Copyright 2017-2018, Justin Carpentier, LAAS-CNRS
  *
  * This file is part of eigenpy.
  * eigenpy is free software: you can redistribute it and/or
@@ -14,12 +14,16 @@
  * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <Eigen/Core>
+
+#if EIGEN_VERSION_AT_LEAST(3,2,0)
 #include "eigenpy/solvers/preconditioners.hpp"
 #include "eigenpy/solvers/BasicPreconditioners.hpp"
 //#include "eigenpy/solvers/BFGSPreconditioners.hpp"
 
 namespace eigenpy
 {
+
   void exposePreconditioners()
   {
     using namespace Eigen;
@@ -32,4 +36,8 @@ namespace eigenpy
 //      LimitedBFGSPreconditionerBaseVisitor< LimitedBFGSPreconditioner<double,Eigen::Dynamic,Eigen::Upper|Eigen::Lower> >::expose("LimitedBFGSPreconditioner");
 
   }
+
 } // namespace eigenpy
+
+#endif
+

src/solvers/solvers.cpp

@@ -1,5 +1,5 @@
 /*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
+ * Copyright 2017-2018, Justin Carpentier, LAAS-CNRS
  *
  * This file is part of eigenpy.
  * eigenpy is free software: you can redistribute it and/or
@@ -14,6 +14,10 @@
  * with eigenpy.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <Eigen/Core>
+
+#if EIGEN_VERSION_AT_LEAST(3,2,0)
+
 #include "eigenpy/solvers/solvers.hpp"
 #include "eigenpy/solvers/ConjugateGradient.hpp"
 
@@ -43,3 +47,6 @@ namespace eigenpy
     ;
   }
 } // namespace eigenpy
+
+#endif
+

unittest/CMakeLists.txt

@@ -40,5 +40,7 @@ ADD_CUSTOM_TARGET(check COMMAND ${CMAKE_CTEST_COMMAND})
 
 ADD_LIB_UNIT_TEST(matrix "eigen3")
 ADD_LIB_UNIT_TEST(geometry "eigen3")
-ADD_LIB_UNIT_TEST(ref "eigen3")
+IF(NOT ${EIGEN3_VERSION} VERSION_LESS "3.2.0")
+  ADD_LIB_UNIT_TEST(ref "eigen3")
+ENDIF()