Merge pull request #147 from jcarpent/devel

Add test for matrix 1x1

Author: jcarpent

include/eigenpy/details.hpp

@@ -461,7 +461,7 @@ namespace eigenpy
 
       PyArrayObject* pyArray;
       // Allocate Python memory
-      if(C == 1 && NumpyType::getType() == ARRAY_TYPE) // Handle array with a single dimension
+      if(C == 1 && NumpyType::getType() == ARRAY_TYPE && MatType::IsVectorAtCompileTime) // Handle array with a single dimension
       {
         npy_intp shape[1] = { R };
         pyArray = (PyArrayObject*) PyArray_SimpleNew(1, shape,

include/eigenpy/map.hpp

@@ -1,6 +1,6 @@
 /*
  * Copyright 2014-2019, CNRS
- * Copyright 2018-2019, INRIA
+ * Copyright 2018-2020, INRIA
  */
 
 #include "eigenpy/fwd.hpp"
@@ -10,7 +10,7 @@
 
 namespace eigenpy
 {
-  template<typename MatType, typename InputScalar, int IsVector>
+  template<typename MatType, typename InputScalar, bool IsVector>
   struct MapNumpyTraits {};
 
   /* Wrap a numpy::array with an Eigen::Map. No memory copy. */
@@ -33,7 +33,7 @@ namespace eigenpy
 namespace eigenpy
 {
   template<typename MatType, typename InputScalar>
-  struct MapNumpyTraits<MatType,InputScalar,0>
+  struct MapNumpyTraits<MatType,InputScalar,false>
   {
     typedef typename StrideType<MatType>::type Stride;
     typedef Eigen::Matrix<InputScalar,MatType::RowsAtCompileTime,MatType::ColsAtCompileTime> EquivalentInputMatrixType;
@@ -43,10 +43,10 @@ namespace eigenpy
     {
       assert( PyArray_NDIM(pyArray) == 2 );
 
-      assert( (PyArray_DIMS(pyArray)[0]<INT_MAX)
-	      && (PyArray_DIMS(pyArray)[1]<INT_MAX)
-	      && (PyArray_STRIDE(pyArray, 0)<INT_MAX)
-	      && (PyArray_STRIDE(pyArray, 1)<INT_MAX) );
+      assert( (PyArray_DIMS(pyArray)[0]  < INT_MAX)
+           && (PyArray_DIMS(pyArray)[1]  < INT_MAX)
+           && (PyArray_STRIDE(pyArray,0) < INT_MAX)
+           && (PyArray_STRIDE(pyArray,1) < INT_MAX) );
 
       const int R = (int)PyArray_DIMS(pyArray)[0];
       const int C = (int)PyArray_DIMS(pyArray)[1];
@@ -69,7 +69,7 @@ namespace eigenpy
   };
 
   template<typename MatType, typename InputScalar>
-  struct MapNumpyTraits<MatType,InputScalar,1>
+  struct MapNumpyTraits<MatType,InputScalar,true>
   {
     typedef typename StrideType<MatType>::type Stride;
     typedef Eigen::Matrix<InputScalar,MatType::RowsAtCompileTime,MatType::ColsAtCompileTime> EquivalentInputMatrixType;

unittest/matrix.cpp

@@ -1,11 +1,25 @@
 /*
  * Copyright 2014-2019, CNRS
- * Copyright 2018-2019, INRIA
+ * Copyright 2018-2020, INRIA
  */
 
 #include "eigenpy/eigenpy.hpp"
 #include <iostream>
 
+template<typename Scalar>
+Eigen::Matrix<Scalar,Eigen::Dynamic,1> vector1x1(const Scalar & value)
+{
+  typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1> ReturnType;
+  return ReturnType::Constant(1,value);
+} 
+
+template<typename Scalar>
+Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic> matrix1x1(const Scalar & value)
+{
+  typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic> ReturnType; 
+  return ReturnType::Constant(1,1,value);
+}
+
 Eigen::VectorXd emptyVector()
 {
   Eigen::VectorXd vec;
@@ -77,6 +91,9 @@ BOOST_PYTHON_MODULE(matrix)
   Eigen::VectorXd (*naturalsX)(int,bool) = naturals;
   Eigen::Matrix3d (*naturals33)(bool) = naturals;
 
+  bp::def("vector1x1", vector1x1<double>);
+  bp::def("matrix1x1", matrix1x1<double>);
+
   bp::def("naturals", naturalsXX);
   bp::def("naturalsX", naturalsX);
   bp::def("naturals33", naturals33);

unittest/python/test_matrix.py

@@ -117,3 +117,12 @@
 # TODO
 # M = Mref[0:3,1:2]
 # assert( np.array_equal(M,eigenpy.reflex3(M,verbose)) );
+
+value = 2.
+mat1x1 = eigenpy.matrix1x1(value)
+assert(mat1x1.size == 1)
+assert(mat1x1[0,0] == value)
+
+vec1x1 = eigenpy.vector1x1(value)
+assert(vec1x1.size == 1)
+assert(vec1x1[0,0] == value)