[Python] Use new API for enableEigenPySpecific

bindings/python/CMakeLists.txt

@@ -35,7 +35,7 @@ ADD_CUSTOM_TARGET(python)
 SET_TARGET_PROPERTIES(python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
 # --- DEPENDENCIES --- #
-SET(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 1.3.1")
+SET(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 1.4.0")
 FOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
   ADD_COMPILE_DEPENDENCY(${dep})
 ENDFOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})

bindings/python/module.cpp

 //
-// Copyright (c) 2015-2017 CNRS
+// Copyright (c) 2015-2018 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 // This file is part of Pinocchio
@@ -36,10 +36,10 @@ BOOST_PYTHON_MODULE(libpinocchio_pywrap)
   typedef Eigen::Matrix<double,6,Eigen::Dynamic> Matrix6x;
   typedef Eigen::Matrix<double,3,Eigen::Dynamic> Matrix3x;
   
-  eigenpy::enableEigenPySpecific<Matrix6d,Matrix6d>();
-  eigenpy::enableEigenPySpecific<Vector6d,Vector6d>();
-  eigenpy::enableEigenPySpecific<Matrix6x,Matrix6x>();
-  eigenpy::enableEigenPySpecific<Matrix3x,Matrix3x>();
+  eigenpy::enableEigenPySpecific<Matrix6d>();
+  eigenpy::enableEigenPySpecific<Vector6d>();
+  eigenpy::enableEigenPySpecific<Matrix6x>();
+  eigenpy::enableEigenPySpecific<Matrix3x>();
 
   exposeSE3();
   exposeForce();

bindings/python/multibody/data.hpp

@@ -134,7 +134,7 @@ namespace se3
         bp::class_< std::vector<int> >("StdVec_int")
         .def(bp::vector_indexing_suite< std::vector<int> >());
         
-        eigenpy::enableEigenPySpecific<Data::RowMatrixXd,Data::RowMatrixXd>();
+        eigenpy::enableEigenPySpecific<Data::RowMatrixXd>();
       }
 
     };