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, SVD and QR decompositions
• 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)

Table of contents

• EigenPy — Versatile and efficient Python bindings between Numpy and Eigen
  • Installation
    • Conda
    • Ubuntu
      • Add robotpkg apt repository
      • Install EigenPy
    • Mac OS X
    • Docker
  • Build
  • Contribution
  • Core-dev team
  • Credits
  • Acknowledgments

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

1. Register the authentication certificate of robotpkg:

curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc

1. Add robotpkg as source repository to apt:

sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg
EOF

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

sudo apt update

Install EigenPy

1. 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

Docker

docker run --rm -it ghcr.io/stack-of-tasks/eigenpy:devel

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Contributing Guidelines

Thank you for your interest in contributing to EigenPy. Whether it’s a bug report, a new feature, a fix, or documentation, we value every contribution.

Read this document before opening an issue or a pull request.

All communication on this project must follow the Code of Conduct.

Table of contents

• Contributing Guidelines
  • Reporting bugs and feature requests
  • Asking questions
  • Contributing via pull requests
    • Choosing an issue
    • Set up the development environment
    • Pull request content
    • Keeping the pull request up-to-date
    • Running tests
    • Code style
    • Changelog
  • AI-assisted contributions
    • Responsibility
    • Disclosure
    • Communication
    • Translation
    • AI agent
  • Licensing

Reporting bugs and feature requests

Use the GitHub issue tracker to report bugs or suggest features.

Before opening an issue, check existing open and closed issues to avoid duplicates.

Use the appropriate template and give as much detail as possible. If you don’t use the template, maintainers may close your issue without explanation.

Asking questions

Ask questions in the discussions section. It separates development topics from community questions. Questions posted in the issue tracker will be moved to the discussions section.

Contributing via pull requests

Choosing an issue

Every external contributor pull request needs an associated issue. Open an issue first. Core developers will review it.

An issue is ready for a pull request when:

• It has the ready label.
• It is not assigned.
• It does not have the core developers label.

Issues with the core developers label are reserved for core developers.

If an issue meets these criteria, claim it with a short comment.

Set up the development environment

The easiest way to set up a development environment is to use pixi, as described in the build documentation.

See the CI workflows for examples with other package managers.

Pull request content

To create a pull request, follow the GitHub guides on forking a repository and creating a pull request.

In your pull request:

• Use a descriptive title and follow the pull request template.
• If the pull request is not ready for review, keep it as a draft.
• Keep it to a single self-contained change. Don’t mix unrelated fixes.
• Keep backward compatibility. Don’t break the API.
• Write tests that cover your changes.
• Add an entry to the changelog.
• Make sure code style checks pass (pixi run lint or pre-commit run --all-files).
• Make sure the CI is green. Ask for help if you’re stuck on a CI issue.
• Check all the appropriate items in the pull request template checklist.

Keeping the pull request up-to-date

You must rebase your work on the upstream devel branch.

git pull --rebase origin devel

Don’t omit the --rebase argument or a merge commit will be created. Using merge commits to update your pull request is discouraged as it creates a non-linear git history.

Running tests

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