details.hpp

/*
 * Copyright 2014-2019, CNRS
 * Copyright 2018-2024, INRIA
 */

#ifndef __eigenpy_details_hpp__
#define __eigenpy_details_hpp__

#include "eigenpy/fwd.hpp"
#include "eigenpy/eigen-allocator.hpp"
#include "eigenpy/eigen-from-python.hpp"
#include "eigenpy/eigen-to-python.hpp"
#include "eigenpy/eigenpy.hpp"
#include "eigenpy/exception.hpp"
#include "eigenpy/numpy-type.hpp"
#include "eigenpy/registration.hpp"
#include "eigenpy/scalar-conversion.hpp"

namespace eigenpy {

template <typename EigenType,
 typename BaseType = typename get_eigen_base_type<EigenType>::type,
 typename Scalar = typename EigenType::Scalar>
struct expose_eigen_type_impl;

template <typename MatType, typename Scalar>
struct expose_eigen_type_impl<MatType, Eigen::MatrixBase<MatType>, Scalar> {
 static void run() {
 if (check_registration<MatType>()) return;

 // 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();
#endif

 // from-python
 EigenFromPyConverter<MatType>::registration();
 }
};

template <typename MatType, typename Scalar>
struct expose_eigen_type_impl<MatType, Eigen::SparseMatrixBase<MatType>,
 Scalar> {
 static void run() {
 if (check_registration<MatType>()) return;

 // 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();
 // #endif

 // from-python
 EigenFromPyConverter<MatType>::registration();
 }
};

#ifdef EIGENPY_WITH_TENSOR_SUPPORT
template <typename TensorType, typename Scalar>
struct expose_eigen_type_impl<TensorType, Eigen::TensorBase<TensorType>,
 Scalar> {
 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

template <typename MatType>
void enableEigenPySpecific() {
 expose_eigen_type_impl<MatType>::run();
}

} // namespace eigenpy

#endif // ifndef __eigenpy_details_hpp__