core: allows template specialization of EigenFromPy

Author: jcarpent

include/eigenpy/eigen-from-python.hpp

@@ -275,13 +275,13 @@ namespace eigenpy
     memory->convertible = storage->storage.bytes;
   }
 
-  template<typename MatType>
+  template<typename MatType, typename _Scalar>
   struct EigenFromPy
   {
     typedef typename MatType::Scalar Scalar;
 
     /// \brief Determine if pyObj can be converted into a MatType object
-    static void* convertible(PyArrayObject* pyArray);
+    static void* convertible(PyObject* pyObj);
 
     /// \brief Allocate memory and copy pyObj in the new storage
     static void construct(PyObject* pyObj,
@@ -290,12 +290,14 @@ namespace eigenpy
     static void registration();
   };
 
-  template<typename MatType>
-  void* EigenFromPy<MatType>::convertible(PyArrayObject* pyArray)
+  template<typename MatType, typename _Scalar>
+  void* EigenFromPy<MatType,_Scalar>::convertible(PyObject* pyObj)
   {
-    if(!call_PyArray_Check(reinterpret_cast<PyObject*>(pyArray)))
+    if(!call_PyArray_Check(reinterpret_cast<PyObject*>(pyObj)))
       return 0;
 
+    PyArrayObject * pyArray =  reinterpret_cast<PyArrayObject*>(pyObj);
+    
     if(!np_type_is_convertible_into_scalar<Scalar>(EIGENPY_GET_PY_ARRAY_TYPE(pyArray)))
       return 0;
 
@@ -403,15 +405,15 @@ namespace eigenpy
     return pyArray;
   }
 
-  template<typename MatType>
-  void EigenFromPy<MatType>::construct(PyObject* pyObj,
-                                       bp::converter::rvalue_from_python_stage1_data* memory)
+  template<typename MatType, typename _Scalar>
+  void EigenFromPy<MatType,_Scalar>::construct(PyObject* pyObj,
+                                               bp::converter::rvalue_from_python_stage1_data* memory)
   {
     eigen_from_py_construct<MatType>(pyObj,memory);
   }
 
-  template<typename MatType>
-  void EigenFromPy<MatType>::registration()
+  template<typename MatType, typename _Scalar>
+  void EigenFromPy<MatType,_Scalar>::registration()
   {
     bp::converter::registry::push_back
     (reinterpret_cast<void *(*)(_object *)>(&EigenFromPy::convertible),
@@ -431,7 +433,7 @@ namespace eigenpy
 
       // Add conversion to Eigen::EigenBase<MatType>
       typedef Eigen::EigenBase<MatType> EigenBase;
-      EigenFromPy<EigenBase>::registration();
+      EigenFromPy<EigenBase,typename MatType::Scalar>::registration();
 
       // Add conversion to Eigen::PlainObjectBase<MatType>
       typedef Eigen::PlainObjectBase<MatType> PlainObjectBase;
@@ -449,8 +451,8 @@ namespace eigenpy
     }
   };
 
-  template<typename MatType>
-  struct EigenFromPy< Eigen::MatrixBase<MatType> > : EigenFromPy<MatType>
+  template<typename MatType, typename _Scalar>
+  struct EigenFromPy< Eigen::MatrixBase<MatType>, _Scalar > : EigenFromPy<MatType>
   {
     typedef EigenFromPy<MatType> EigenFromPyDerived;
     typedef Eigen::MatrixBase<MatType> Base;
@@ -463,8 +465,8 @@ namespace eigenpy
     }
   };
 
-  template<typename MatType>
-  struct EigenFromPy< Eigen::EigenBase<MatType> > : EigenFromPy<MatType>
+  template<typename MatType, typename _Scalar>
+  struct EigenFromPy< Eigen::EigenBase<MatType>, _Scalar > : EigenFromPy<MatType>
   {
     typedef EigenFromPy<MatType> EigenFromPyDerived;
     typedef Eigen::EigenBase<MatType> Base;
@@ -477,8 +479,8 @@ namespace eigenpy
     }
   };
 
-  template<typename MatType>
-  struct EigenFromPy< Eigen::PlainObjectBase<MatType> > : EigenFromPy<MatType>
+  template<typename MatType, typename _Scalar>
+  struct EigenFromPy< Eigen::PlainObjectBase<MatType>, _Scalar > : EigenFromPy<MatType>
   {
     typedef EigenFromPy<MatType> EigenFromPyDerived;
     typedef Eigen::PlainObjectBase<MatType> Base;
@@ -493,20 +495,21 @@ namespace eigenpy
 
 #if EIGEN_VERSION_AT_LEAST(3,2,0)
 
-  template<typename MatType, int Options, typename Stride>
-  struct EigenFromPy<Eigen::Ref<MatType,Options,Stride> >
+  template<typename MatType, int Options, typename Stride, typename _Scalar>
+  struct EigenFromPy<Eigen::Ref<MatType,Options,Stride>,_Scalar>
   {
     typedef Eigen::Ref<MatType,Options,Stride> RefType;
     typedef typename MatType::Scalar Scalar;
 
     /// \brief Determine if pyObj can be converted into a MatType object
-    static void* convertible(PyArrayObject * pyArray)
+    static void* convertible(PyObject * pyObj)
     {
-      if(!call_PyArray_Check(reinterpret_cast<PyObject*>(pyArray)))
+      if(!call_PyArray_Check(pyObj))
         return 0;
+      PyArrayObject * pyArray = reinterpret_cast<PyArrayObject*>(pyObj);
       if(!PyArray_ISWRITEABLE(pyArray))
         return 0;
-      return EigenFromPy<MatType>::convertible(pyArray);
+      return EigenFromPy<MatType>::convertible(pyObj);
     }
 
     static void registration()
@@ -517,16 +520,16 @@ namespace eigenpy
     }
   };
 
-  template<typename MatType, int Options, typename Stride>
-  struct EigenFromPy<const Eigen::Ref<const MatType,Options,Stride> >
+  template<typename MatType, int Options, typename Stride, typename _Scalar>
+  struct EigenFromPy<const Eigen::Ref<const MatType,Options,Stride>,_Scalar>
   {
     typedef const Eigen::Ref<const MatType,Options,Stride> ConstRefType;
     typedef typename MatType::Scalar Scalar;
 
     /// \brief Determine if pyObj can be converted into a MatType object
-    static void* convertible(PyArrayObject * pyArray)
+    static void* convertible(PyObject * pyObj)
     {
-      return EigenFromPy<MatType>::convertible(pyArray);
+      return EigenFromPy<MatType>::convertible(pyObj);
     }
 
     static void registration()

include/eigenpy/fwd.hpp

@@ -28,8 +28,8 @@
 
 namespace eigenpy
 {
-  template<typename MatType> struct EigenFromPy;
   template<typename MatType, typename Scalar = typename boost::remove_reference<MatType>::type::Scalar> struct EigenToPy;
+  template<typename MatType, typename Scalar = typename boost::remove_reference<MatType>::type::Scalar> struct EigenFromPy;
 }
 
 #endif // ifndef __eigenpy_fwd_hpp__