Merge pull request #125 from jcarpent/devel

Improve conversion checking
stack-of-tasks · Nov 16, 2019 · 1acbed4 · 1acbed4
2 parents ff7cb4d + fd2dcb6
commit 1acbed4
Showing 1 changed file with 38 additions and 2 deletions.
diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
@@ -378,17 +378,43 @@ namespace eigenpy
 
       if(MatType::IsVectorAtCompileTime)
       {
+        const Eigen::DenseIndex size_at_compile_time
+        = MatType::IsRowMajor
+        ? MatType::ColsAtCompileTime
+        : MatType::RowsAtCompileTime;
+
         switch(PyArray_NDIM(pyArray))
         {
           case 0:
             return 0;
           case 1:
-            return pyArray;
+          {
+            if(size_at_compile_time != Eigen::Dynamic)
+            {
+              // check that the sizes at compile time matche
+              if(PyArray_DIMS(pyArray)[0] == size_at_compile_time)
+                return pyArray;
+              else
+                return 0;
+            }
+            else // This is a dynamic MatType
+              return pyArray;
+          }
           case 2:
           {
             // Special care of scalar matrix of dimension 1x1.
             if(PyArray_DIMS(pyArray)[0] == 1 && PyArray_DIMS(pyArray)[1] == 1)
-              return pyArray;
+            {
+              if(size_at_compile_time != Eigen::Dynamic)
+              {
+                if(size_at_compile_time == 1)
+                  return pyArray;
+                else
+                  return 0;
+              }
+              else // This is a dynamic MatType
+                return pyArray;
+            }
 
             if(PyArray_DIMS(pyArray)[0] > 1 && PyArray_DIMS(pyArray)[1] > 1)
             {
@@ -409,6 +435,16 @@ namespace eigenpy
 #endif
               return 0;
             }
+
+            if(size_at_compile_time != Eigen::Dynamic)
+            { // This is a fixe size vector
+              const Eigen::DenseIndex pyArray_size
+              = PyArray_DIMS(pyArray)[0] > PyArray_DIMS(pyArray)[1]
+              ? PyArray_DIMS(pyArray)[0]
+              : PyArray_DIMS(pyArray)[1];
+              if(size_at_compile_time != pyArray_size)
+                return 0;
+            }
             break;
           }
           default: