pyx nocopy

rednose/helpers/ekf_sym_pyx.pyx

@@ -76,12 +76,40 @@ cdef np.ndarray[np.float64_t, ndim=2, mode="c"] matrix_to_numpy(MatrixXdr arr):
   cdef double[:,:] mem_view = <double[:arr.rows(),:arr.cols()]>arr.data()
   return np.copy(np.asarray(mem_view, dtype=np.double, order="C"))
 
+@cython.wraparound(False)
+@cython.boundscheck(False)
+cdef np.ndarray[np.float64_t, ndim=2, mode="c"] matrix_to_numpy_nocopy(MatrixXdr arr):
+  cdef double[:,:] mem_view = <double[:arr.rows(),:arr.cols()]>arr.data()
+  return np.asarray(mem_view, dtype=np.double, order="C")
+
 @cython.wraparound(False)
 @cython.boundscheck(False)
 cdef np.ndarray[np.float64_t, ndim=1, mode="c"] vector_to_numpy(VectorXd arr):
   cdef double[:] mem_view = <double[:arr.rows()]>arr.data()
   return np.copy(np.asarray(mem_view, dtype=np.double, order="C"))
 
+@cython.wraparound(False)
+@cython.boundscheck(False)
+cdef np.ndarray[np.float64_t, ndim=1, mode="c"] vector_to_numpy_nocopy(VectorXd arr):
+  cdef double[:] mem_view = <double[:arr.rows()]>arr.data()
+  return np.asarray(mem_view, dtype=np.double, order="C")
+
+
+cdef class Result:
+  cdef Estimate estimate
+
+  @property
+  def y(self):
+    return vector_to_numpy_nocopy(self.estimate.y.at(0))
+
+  @property
+  def xk(self):
+    return vector_to_numpy_nocopy(self.estimate.xk)
+
+  @property
+  def Pk(self):
+    return matrix_to_numpy_nocopy(self.estimate.Pk)
+
 cdef class EKF_sym_pyx:
   cdef EKFSym* ekf
   def __cinit__(self, str gen_dir, str name, np.ndarray[np.float64_t, ndim=2] Q,
@@ -166,18 +194,9 @@ cdef class EKF_sym_pyx:
     if not res.has_value():
       return None
 
-    cdef VectorXd tmpvec
-    return (
-      vector_to_numpy(res.value().xk1),
-      vector_to_numpy(res.value().xk),
-      matrix_to_numpy(res.value().Pk1),
-      matrix_to_numpy(res.value().Pk),
-      res.value().t,
-      res.value().kind,
-      [vector_to_numpy(tmpvec) for tmpvec in res.value().y],
-      z,  # TODO: take return values?
-      extra_args,
-    )
+    result = Result()
+    result.estimate = res.value()
+    return result
 
   def augment(self):
     raise NotImplementedError()  # TODO