Merge pull request #348 from jcarpent/devel

Add full support of Eigen::Tensor

Author: jcarpent

.github/workflows/linux.yml

@@ -20,6 +20,8 @@ jobs:
       - run: |
           sudo apt-get update
           sudo apt-get install cmake libboost-all-dev libeigen3-dev python*-numpy python*-dev
+          echo $(sudo apt list --installed)
+          echo $(g++ --version)
       - run: cmake -DPYTHON_EXECUTABLE=$(which python${{ matrix.python }}) .
       - run: make -j2
       - run: make test

.pre-commit-config.yaml

@@ -5,7 +5,7 @@ repos:
     rev: v15.0.7
     hooks:
     -   id: clang-format
-        args: ['--style={BasedOnStyle: Google, SortIncludes: false}']
+        args: ['--style={BasedOnStyle: Google, SortIncludes: false, Standard: Cpp03}']
 -   repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.4.0
     hooks:

CMakeLists.txt

@@ -67,6 +67,7 @@ string(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
 
 # If needed, fix CMake policy for APPLE systems
 apply_default_apple_configuration()
+check_minimal_cxx_standard(11 ENFORCE)
 
 if(WIN32)
   set(LINK copy_if_different)
@@ -164,6 +165,7 @@ set(${PROJECT_NAME}_HEADERS
     include/eigenpy/std-vector.hpp
     include/eigenpy/pickle-vector.hpp
     include/eigenpy/stride.hpp
+    include/eigenpy/tensor/eigen-from-python.hpp
     include/eigenpy/swig.hpp
     include/eigenpy/version.hpp)
 

include/eigenpy/alignment.hpp

@@ -1,5 +1,5 @@
 /*
- * Copyright 2023, INRIA
+ * Copyright 2023 INRIA
  */
 
 #ifndef __eigenpy_alignment_hpp__
@@ -67,6 +67,23 @@ struct referent_storage<
       typename eigenpy::aligned_storage<referent_size<T &>::value>::type type;
 };
 
+#ifdef EIGENPY_WITH_TENSOR_SUPPORT
+template <typename Scalar, int Rank, int Options, typename IndexType>
+struct referent_storage<Eigen::Tensor<Scalar, Rank, Options, IndexType> &> {
+  typedef Eigen::Tensor<Scalar, Rank, Options, IndexType> T;
+  typedef
+      typename eigenpy::aligned_storage<referent_size<T &>::value>::type type;
+};
+
+template <typename Scalar, int Rank, int Options, typename IndexType>
+struct referent_storage<
+    const Eigen::Tensor<Scalar, Rank, Options, IndexType> &> {
+  typedef Eigen::Tensor<Scalar, Rank, Options, IndexType> T;
+  typedef
+      typename eigenpy::aligned_storage<referent_size<T &>::value>::type type;
+};
+#endif
+
 template <typename Scalar, int Options>
 struct referent_storage<Eigen::Quaternion<Scalar, Options> &> {
   typedef Eigen::Quaternion<Scalar, Options> T;

include/eigenpy/details.hpp

@@ -17,24 +17,49 @@
 #include "eigenpy/scalar-conversion.hpp"
 
 namespace eigenpy {
-template <typename MatType, typename EigenEquivalentType>
-EIGENPY_DEPRECATED void enableEigenPySpecific() {
-  enableEigenPySpecific<MatType>();
-}
+
+template <typename EigenType,
+          typename BaseType = typename get_eigen_base_type<EigenType>::type>
+struct expose_eigen_type_impl;
 
 template <typename MatType>
-void enableEigenPySpecific() {
-  if (check_registration<MatType>()) return;
+struct expose_eigen_type_impl<MatType, Eigen::MatrixBase<MatType> > {
+  static void run() {
+    if (check_registration<MatType>()) return;
 
-  // to-python
-  EigenToPyConverter<MatType>::registration();
+    // to-python
+    EigenToPyConverter<MatType>::registration();
 #if EIGEN_VERSION_AT_LEAST(3, 2, 0)
-  EigenToPyConverter<Eigen::Ref<MatType> >::registration();
-  EigenToPyConverter<const Eigen::Ref<const MatType> >::registration();
+    EigenToPyConverter<Eigen::Ref<MatType> >::registration();
+    EigenToPyConverter<const Eigen::Ref<const MatType> >::registration();
+#endif
+
+    // from-python
+    EigenFromPyConverter<MatType>::registration();
+  }
+};
+
+#ifdef EIGENPY_WITH_TENSOR_SUPPORT
+template <typename TensorType>
+struct expose_eigen_type_impl<TensorType, Eigen::TensorBase<TensorType> > {
+  static void run() {
+    if (check_registration<TensorType>()) return;
+
+    // to-python
+    EigenToPyConverter<TensorType>::registration();
+    EigenToPyConverter<Eigen::TensorRef<TensorType> >::registration();
+    EigenToPyConverter<
+        const Eigen::TensorRef<const TensorType> >::registration();
+
+    // from-python
+    EigenFromPyConverter<TensorType>::registration();
+  }
+};
 #endif
 
-  // from-python
-  EigenFromPyConverter<MatType>::registration();
+template <typename MatType>
+void enableEigenPySpecific() {
+  expose_eigen_type_impl<MatType>::run();
 }
 
 }  // namespace eigenpy