eigenpy

Bindings between Numpy and Eigen using Boost.Python

Links

C++ API
- Full C++ API
Standard Documents
- CHANGELOG
- LICENSE
- PACKAGE
- README

README

EigenPy — Versatile and efficient Python bindings between Numpy and Eigen

EigenPy is an open-source framework that allows the binding of the famous Eigen C++ library in Python via Boost.Python.

EigenPy provides:

full memory sharing between Numpy and Eigen, avoiding memory allocation
full support Eigen::Ref avoiding memory allocation
full support of the Eigen::Tensor module
exposition of the Geometry module of Eigen for easy code prototyping
standard matrix decomposion routines of Eigen such as the Cholesky decomposition (SVD and QR decompositions can be added)
full support of SWIG objects
full support of runtime declaration of Numpy scalar types
extended API to expose several STL types and some of their Boost equivalents: optional types, std::pair, maps, variants…
full support of vectorization between C++ and Python (all the hold objects are properly aligned in memory)

Installation

The installation of EigenPy on your computer is made easy for Linux/BSD, Mac OS X, and Windows environments.

Conda

You simply need this simple line:

conda install eigenpy -c conda-forge

Ubuntu

You can easily install EigenPy from binaries.

Add robotpkg apt repository

Add robotpkg as source repository to apt:

sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg' >> /etc/apt/sources.list.d/robotpkg.list"

Register the authentication certificate of robotpkg:

curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -

You need to run at least one apt update to fetch the package descriptions:

sudo apt-get update

Install EigenPy

The installation of EigenPy and its dependencies is made through the line:

sudo apt install robotpkg-py35-eigenpy

where 35 should be replaced by the Python 3, you want to work this (e.g., robotpkg-py36-eigenpy to work with Python 3.6).

Mac OS X

The installation of EigenPy on Mac OS X is made via HomeBrew. You just need to register the tap of the software repository.

brew tap gepetto/homebrew-gepetto

and then install EigenPy for Python 3.x with:

brew install eigenpy

Build

Build instruction can be found here

Credits

The following people have been involved in the development of EigenPy:

Justin Carpentier (Inria): main developer and manager of the project
Nicolas Mansard (LAAS-CNRS): initial project instructor
Wolfgang Merkt (University of Edinburgh): ROS integration and support
Sean Yen (Microsoft): Windows integration
Loïc Estève (Inria): Conda integration
Wilson Jallet (Inria/LAAS-CNRS): core developer
Joris Vaillant (Inria): core developer and manager of the project

If you have taken part in the development of EigenPy, feel free to add your name and contribution here.

Acknowledgments

The development of EigenPy is supported by the Gepetto team @LAAS-CNRS and the Willow team @INRIA.