add straightforward implementation of From trait for SMatrix<->DMatri…

…x and SVector<->DVector conversation

src/base/conversion.rs

@@ -23,7 +23,10 @@ use crate::base::{
 use crate::base::{DVector, RowDVector, VecStorage};
 use crate::base::{ViewStorage, ViewStorageMut};
 use crate::constraint::DimEq;
-use crate::{IsNotStaticOne, RowSVector, SMatrix, SVector, VectorView, VectorViewMut};
+use crate::{
+    DMatrix, DMatrixView, IsNotStaticOne, RowSVector, SMatrix, SMatrixView, SVector, SVectorView,
+    VectorView, VectorViewMut,
+};
 use std::mem::MaybeUninit;
 
 // TODO: too bad this won't work for slice conversions.
@@ -428,6 +431,32 @@ where
     }
 }
 
+impl<'a, T: Scalar, const R: usize, const C: usize> From<&'a DMatrix<T>> for SMatrix<T, R, C> {
+    fn from(m: &'a DMatrix<T>) -> Self {
+        let v: DMatrixView<'a, T> = m.as_view();
+        SMatrixView::<T, R, C>::from(&v).clone_owned()
+    }
+}
+impl<'a, T: Scalar, const R: usize, const C: usize> From<&'a SMatrix<T, R, C>> for DMatrix<T> {
+    fn from(m: &'a SMatrix<T, R, C>) -> Self {
+        let v: SMatrixView<'a, T, R, C> = m.as_view();
+        DMatrixView::<T>::from(&v).clone_owned()
+    }
+}
+impl<'a, T: Scalar, const R: usize> From<&'a DVector<T>> for SVector<T, R> {
+    fn from(m: &'a DVector<T>) -> Self {
+        let v: DVectorView<'a, T> = m.as_view();
+        SVectorView::<T, R>::from(&v).clone_owned()
+    }
+}
+
+impl<'a, T: Scalar, const R: usize> From<&'a SVector<T, R>> for DVector<T> {
+    fn from(m: &'a SVector<T, R>) -> Self {
+        let v: SVectorView<'a, T, R> = m.as_view();
+        DVectorView::<T>::from(&v).clone_owned()
+    }
+}
+
 impl<'a, T, R, C, RView, CView, RStride, CStride, S> From<&'a mut Matrix<T, R, C, S>>
     for MatrixView<'a, T, RView, CView, RStride, CStride>
 where

tests/core/matrix.rs

@@ -6,7 +6,8 @@ use na::dimension::{U15, U8};
 use na::{
     self, Const, DMatrix, DVector, Matrix2, Matrix2x3, Matrix2x4, Matrix3, Matrix3x2, Matrix3x4,
     Matrix4, Matrix4x3, Matrix4x5, Matrix5, Matrix6, MatrixView2x3, MatrixViewMut2x3, OMatrix,
-    RowVector3, RowVector4, RowVector5, Vector1, Vector2, Vector3, Vector4, Vector5, Vector6,
+    RowVector3, RowVector4, RowVector5, SMatrix, SVector, Vector1, Vector2, Vector3, Vector4,
+    Vector5, Vector6,
 };
 
 #[test]
@@ -1332,3 +1333,68 @@ fn parallel_column_iteration_mut() {
     assert_eq!(first, second);
     assert_eq!(second, DMatrix::identity(400, 300));
 }
+
+#[test]
+fn dmatrix_from_smatrix() {
+    type T = f64;
+    let s = SMatrix::<T, 3, 3>::from_fn(|i, j| (i * 3) as T + j as T);
+    let d = DMatrix::<T>::from(&s);
+    assert_eq!(d, s);
+}
+
+#[test]
+fn smatrix_from_dmatrix() {
+    type T = f64;
+    let d = DMatrix::<T>::from_fn(3, 3, |i, j| (i * 3) as T + j as T);
+    let s = SMatrix::<T, 3, 3>::from(&d);
+    assert_eq!(d, s);
+}
+
+#[test]
+fn svector_from_dvector() {
+    type T = f64;
+    let d = DVector::<T>::from_fn(3, |i, j| (i * 3) as T + j as T);
+    let s = SVector::<T, 3>::from(&d);
+    assert_eq!(d, s);
+}
+
+#[test]
+fn dvector_from_svector() {
+    type T = f64;
+    let s = SVector::<T, 3>::from_fn(|i, j| (i * 3) as T + j as T);
+    let d = DVector::<T>::from(&s);
+    assert_eq!(d, s);
+}
+
+#[test]
+fn svector3_from_dvector() {
+    type T = f64;
+    let d = DVector::<T>::from_fn(3, |i, j| (i * 3) as T + j as T);
+    let s = Vector3::<T>::from(&d);
+    assert_eq!(d, s);
+}
+
+#[test]
+fn dvector_from_svector3() {
+    type T = f64;
+    let s = Vector3::<T>::from_fn(|i, j| (i * 3) as T + j as T);
+    let d = DVector::<T>::from(&s);
+    assert_eq!(d, s);
+}
+
+#[test]
+fn svector3_from_dmatrix3x1() {
+    type T = f64;
+    let d = DMatrix::<T>::from_fn(3, 1, |i, j| (i * 3) as T + j as T);
+    let s = Vector3::<T>::from(&d);
+    assert_eq!(d, s);
+}
+
+#[test]
+#[should_panic]
+fn svector3_from_dmatrix3x3() {
+    type T = f64;
+    let d = DMatrix::<T>::from_fn(3, 3, |i, j| (i * 3) as T + j as T);
+    let s = Vector3::<T>::from(&d);
+    assert_eq!(d, s);
+}