Merge pull request #209 from jcarpent/devel

Fix bug for non square matrix

Author: jcarpent

include/eigenpy/eigen-allocator.hpp

@@ -66,6 +66,17 @@ namespace eigenpy
         }
       }
     };
+  
+    template<typename MatType>
+    bool check_swap(PyArrayObject * pyArray,
+                    const Eigen::MatrixBase<MatType> & mat)
+    {
+      if(PyArray_NDIM(pyArray) == 0) return false;
+      if(mat.rows() == PyArray_DIMS(pyArray)[0])
+        return false;
+      else
+        return true;
+    }
 
     template<typename Scalar, typename NewScalar, bool cast_is_valid = FromTypeToType<Scalar,NewScalar>::value >
     struct cast_matrix_or_array
@@ -75,10 +86,7 @@ namespace eigenpy
                       const Eigen::MatrixBase<MatrixOut> & dest)
       {
         MatrixOut & dest_ = const_cast<MatrixOut &>(dest.derived());
-        if(dest.rows() == input.rows())
-          dest_ = input.template cast<NewScalar>();
-        else
-          dest_ = input.transpose().template cast<NewScalar>();
+        dest_ = input.template cast<NewScalar>();
       }
     };
 
@@ -97,11 +105,11 @@ namespace eigenpy
   } // namespace details
 
 #define EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType,Scalar,NewScalar,pyArray,mat) \
-  details::cast_matrix_or_array<Scalar,NewScalar>::run(NumpyMap<MatType,Scalar>::map(pyArray),mat)
+  details::cast_matrix_or_array<Scalar,NewScalar>::run(NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat)),mat)
 
 #define EIGENPY_CAST_FROM_EIGEN_MATRIX_TO_PYARRAY(MatType,Scalar,NewScalar,mat,pyArray) \
-  details::cast_matrix_or_array<Scalar,NewScalar>::run(mat,NumpyMap<MatType,NewScalar>::map(pyArray))
-  
+  details::cast_matrix_or_array<Scalar,NewScalar>::run(mat,NumpyMap<MatType,NewScalar>::map(pyArray,details::check_swap(pyArray,mat)))
+
   template<typename MatType>
   struct EigenAllocator
   {
@@ -119,7 +127,7 @@ namespace eigenpy
       const int Scalar_type_code = Register::getTypeCode<Scalar>();
       if(pyArray_type_code == Scalar_type_code)
       {
-        mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
+        mat = NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat)); // avoid useless cast
         return;
       }
 
@@ -167,11 +175,8 @@ namespace eigenpy
 
       if(pyArray_type_code == Scalar_type_code) // no cast needed
       {
-        MapType map_pyArray = NumpyMap<MatType,Scalar>::map(pyArray);
-        if(mat.rows() == map_pyArray.rows())
-          map_pyArray = mat;
-        else
-          map_pyArray = mat.transpose();
+        MapType map_pyArray = NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat));
+        map_pyArray = mat;
         return;
       }
 
@@ -252,7 +257,7 @@ namespace eigenpy
         RefType & mat = *reinterpret_cast<RefType*>(raw_ptr);
         if(pyArray_type_code == Scalar_type_code)
         {
-          mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
+          mat = NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat)); // avoid useless cast
           return;
         }
 
@@ -346,7 +351,7 @@ namespace eigenpy
         MatType & mat = *mat_ptr;
         if(pyArray_type_code == Scalar_type_code)
         {
-          mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
+          mat = NumpyMap<MatType,Scalar>::map(pyArray,details::check_swap(pyArray,mat)); // avoid useless cast
           return;
         }
 

include/eigenpy/fwd.hpp

@@ -22,6 +22,8 @@
 
 #define EIGENPY_NO_ALIGNMENT_VALUE Eigen::Unaligned
 
+#define EIGENPY_UNUSED_VARIABLE(var) (void)(var)
+
 #include "eigenpy/expose.hpp"
 
 namespace eigenpy

include/eigenpy/numpy-map.hpp

@@ -22,7 +22,7 @@ namespace eigenpy
     typedef NumpyMapTraits<MatType, InputScalar, AlignmentValue, Stride> Impl;
     typedef typename Impl::EigenMap EigenMap;
 
-    static EigenMap map(PyArrayObject* pyArray);
+    static EigenMap map(PyArrayObject* pyArray, bool swap_dimensions = false);
    };
 
 } // namespace eigenpy
@@ -39,7 +39,7 @@ namespace eigenpy
     typedef Eigen::Matrix<InputScalar,MatType::RowsAtCompileTime,MatType::ColsAtCompileTime,MatType::Options> EquivalentInputMatrixType;
     typedef Eigen::Map<EquivalentInputMatrixType,AlignmentValue,Stride> EigenMap;
 
-    static EigenMap mapImpl(PyArrayObject* pyArray)
+    static EigenMap mapImpl(PyArrayObject* pyArray, bool swap_dimensions = false)
     {
       enum {
         OuterStrideAtCompileTime = Stride::OuterStrideAtCompileTime,
@@ -77,11 +77,22 @@ namespace eigenpy
         assert( (PyArray_DIMS(pyArray)[0]  < INT_MAX)
              && (PyArray_STRIDE(pyArray,0) < INT_MAX));
 
-        rows = (int)PyArray_DIMS(pyArray)[0];
-        cols = 1;
-        
-        inner_stride = (int)PyArray_STRIDE(pyArray, 0) / (int)itemsize;
-        outer_stride = 0;
+        if(!swap_dimensions)
+        {
+          rows = (int)PyArray_DIMS(pyArray)[0];
+          cols = 1;
+          
+          inner_stride = (int)PyArray_STRIDE(pyArray, 0) / (int)itemsize;
+          outer_stride = 0;
+        }
+        else
+        {
+          rows = 1;
+          cols = (int)PyArray_DIMS(pyArray)[0];
+          
+          inner_stride = 0;
+          outer_stride = (int)PyArray_STRIDE(pyArray, 0) / (int)itemsize;
+        }
       }
 
       // Specific care for Eigen::Stride<-1,0>
@@ -113,8 +124,9 @@ namespace eigenpy
     typedef Eigen::Matrix<InputScalar,MatType::RowsAtCompileTime,MatType::ColsAtCompileTime,MatType::Options> EquivalentInputMatrixType;
     typedef Eigen::Map<EquivalentInputMatrixType,AlignmentValue,Stride> EigenMap;
 
-    static EigenMap mapImpl(PyArrayObject* pyArray)
+    static EigenMap mapImpl(PyArrayObject* pyArray, bool swap_dimensions = false)
     {
+      EIGENPY_UNUSED_VARIABLE(swap_dimensions);
       assert( PyArray_NDIM(pyArray) <= 2 );
 
       int rowMajor;
@@ -141,9 +153,9 @@ namespace eigenpy
 
   template<typename MatType, typename InputScalar, int AlignmentValue, typename Stride>
   typename NumpyMap<MatType,InputScalar,AlignmentValue,Stride>::EigenMap
-  NumpyMap<MatType,InputScalar,AlignmentValue,Stride>::map(PyArrayObject * pyArray)
+  NumpyMap<MatType,InputScalar,AlignmentValue,Stride>::map(PyArrayObject * pyArray, bool swap_dimensions)
   {
-    return Impl::mapImpl(pyArray);
+    return Impl::mapImpl(pyArray,swap_dimensions);
   }
 
 } // namespace eigenpy

include/eigenpy/user-type.hpp

@@ -191,12 +191,12 @@ namespace eigenpy
     PyArray_DotFunc * dotfunc = &internal::SpecialMethods<Scalar>::dotfunc;
 //    PyArray_CastFunc * cast = &internal::SpecialMethods<Scalar>::cast;
 
-    int code =  Register::registerNewType(py_type_ptr,
-                                          &typeid(Scalar),
-                                          sizeof(Scalar),
-                                          getitem, setitem, nonzero,
-                                          copyswap, copyswapn,
-                                          dotfunc);
+    int code = Register::registerNewType(py_type_ptr,
+                                         &typeid(Scalar),
+                                         sizeof(Scalar),
+                                         getitem, setitem, nonzero,
+                                         copyswap, copyswapn,
+                                         dotfunc);
 
     return code;
   }

unittest/matrix.cpp

@@ -94,8 +94,13 @@ BOOST_PYTHON_MODULE(matrix)
   namespace bp = boost::python;
   eigenpy::enableEigenPy();
 
+  // Square matrix
   typedef Eigen::Matrix<double,6,6> Matrix6;
   eigenpy::enableEigenPySpecific<Matrix6>();
+  
+  // Non-square matrix
+  typedef Eigen::Matrix<double,4,6> Matrix46;
+  eigenpy::enableEigenPySpecific<Matrix46>();
 
   Eigen::MatrixXd (*naturalsXX)(int,int,bool) = naturals;
   Eigen::VectorXd (*naturalsX)(int,bool) = naturals;