Start exposition of complex Scalar types for autodiff

CMakeLists.txt

@@ -120,6 +120,9 @@ SET(${PROJECT_NAME}_HEADERS
   include/eigenpy/registration.hpp
   include/eigenpy/angle-axis.hpp
   include/eigenpy/quaternion.hpp
+  include/eigenpy/user-type.hpp
+  include/eigenpy/ufunc.hpp
+  include/eigenpy/register.hpp
   include/eigenpy/stride.hpp
   include/eigenpy/version.hpp
 )
@@ -150,6 +153,7 @@ SET(${PROJECT_NAME}_SOURCES
   src/matrix-float.cpp
   src/matrix-complex-float.cpp
   src/matrix-complex-double.cpp
+  src/register.cpp
   src/matrix-double.cpp
   src/matrix-long-double.cpp
   src/matrix-complex-long-double.cpp

include/eigenpy/eigen-allocator.hpp

@@ -7,6 +7,7 @@
 
 #include "eigenpy/fwd.hpp"
 #include "eigenpy/numpy-map.hpp"
+#include "eigenpy/register.hpp"
 #include "eigenpy/scalar-conversion.hpp"
 #include "eigenpy/utils/is-aligned.hpp"
 
@@ -114,14 +115,15 @@ namespace eigenpy
       Type * mat_ptr = details::init_matrix_or_array<Type>::run(pyArray,raw_ptr);
       Type & mat = *mat_ptr;
 
-      const int pyArray_Type = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
-      if(pyArray_Type == NumpyEquivalentType<Scalar>::type_code)
+      const int pyArray_type_code = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
+      const int Scalar_type_code = Register::getTypeCode<Scalar>();
+      if(pyArray_type_code == Scalar_type_code)
       {
         mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
         return;
       }
 
-      switch(pyArray_Type)
+      switch(pyArray_type_code)
       {
         case NPY_INT:
           EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType,int,Scalar,pyArray,mat);
@@ -158,11 +160,12 @@ namespace eigenpy
                      PyArrayObject * pyArray)
     {
       const MatrixDerived & mat = const_cast<const MatrixDerived &>(mat_.derived());
-      const int pyArray_Type = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
+      const int pyArray_type_code = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
+      const int Scalar_type_code = Register::getTypeCode<Scalar>();
 
       typedef typename NumpyMap<MatType,Scalar>::EigenMap MapType;
 
-      if(pyArray_Type == NumpyEquivalentType<Scalar>::type_code) // no cast needed
+      if(pyArray_type_code == Scalar_type_code) // no cast needed
       {
         MapType map_pyArray = NumpyMap<MatType,Scalar>::map(pyArray);
         if(mat.rows() == map_pyArray.rows())
@@ -172,7 +175,7 @@ namespace eigenpy
         return;
       }
 
-      switch(pyArray_Type)
+      switch(pyArray_type_code)
       {
         case NPY_INT:
           EIGENPY_CAST_FROM_EIGEN_MATRIX_TO_PYARRAY(MatType,Scalar,int,mat,pyArray);
@@ -219,8 +222,9 @@ namespace eigenpy
       typedef typename StrideType<MatType,Eigen::internal::traits<RefType>::StrideType::InnerStrideAtCompileTime, Eigen::internal::traits<RefType>::StrideType::OuterStrideAtCompileTime >::type NumpyMapStride;
 
       bool need_to_allocate = false;
-      const int pyArray_Type = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
-      if(pyArray_Type != NumpyEquivalentType<Scalar>::type_code)
+      const int pyArray_type_code = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
+      const int Scalar_type_code = Register::getTypeCode<Scalar>();
+      if(pyArray_type_code != Scalar_type_code)
         need_to_allocate |= true;
       if(    (MatType::IsRowMajor && (PyArray_IS_C_CONTIGUOUS(pyArray) && !PyArray_IS_F_CONTIGUOUS(pyArray)))
           || (!MatType::IsRowMajor && (PyArray_IS_F_CONTIGUOUS(pyArray) && !PyArray_IS_C_CONTIGUOUS(pyArray)))
@@ -246,13 +250,13 @@ namespace eigenpy
         new (raw_ptr) StorageType(mat_ref,pyArray,mat_ptr);
 
         RefType & mat = *reinterpret_cast<RefType*>(raw_ptr);
-        if(pyArray_Type == NumpyEquivalentType<Scalar>::type_code)
+        if(pyArray_type_code == Scalar_type_code)
         {
           mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
           return;
         }
 
-        switch(pyArray_Type)
+        switch(pyArray_type_code)
         {
           case NPY_INT:
             EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType,int,Scalar,pyArray,mat);
@@ -284,7 +288,7 @@ namespace eigenpy
       }
       else
       {
-        assert(pyArray_Type == NumpyEquivalentType<Scalar>::type_code);
+        assert(pyArray_type_code == Scalar_type_code);
         typename NumpyMap<MatType,Scalar,Options,NumpyMapStride>::EigenMap numpyMap = NumpyMap<MatType,Scalar,Options,NumpyMapStride>::map(pyArray);
         RefType mat_ref(numpyMap);
         new (raw_ptr) StorageType(mat_ref,pyArray);
@@ -311,8 +315,10 @@ namespace eigenpy
       typedef typename StrideType<MatType,Eigen::internal::traits<RefType>::StrideType::InnerStrideAtCompileTime, Eigen::internal::traits<RefType>::StrideType::OuterStrideAtCompileTime >::type NumpyMapStride;
 
       bool need_to_allocate = false;
-      const int pyArray_Type = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
-      if(pyArray_Type != NumpyEquivalentType<Scalar>::type_code)
+      const int pyArray_type_code = EIGENPY_GET_PY_ARRAY_TYPE(pyArray);
+      const int Scalar_type_code = Register::getTypeCode<Scalar>();
+
+      if(pyArray_type_code != Scalar_type_code)
         need_to_allocate |= true;
       if(    (MatType::IsRowMajor && (PyArray_IS_C_CONTIGUOUS(pyArray) && !PyArray_IS_F_CONTIGUOUS(pyArray)))
           || (!MatType::IsRowMajor && (PyArray_IS_F_CONTIGUOUS(pyArray) && !PyArray_IS_C_CONTIGUOUS(pyArray)))
@@ -338,13 +344,13 @@ namespace eigenpy
         new (raw_ptr) StorageType(mat_ref,pyArray,mat_ptr);
 
         MatType & mat = *mat_ptr;
-        if(pyArray_Type == NumpyEquivalentType<Scalar>::type_code)
+        if(pyArray_type_code == Scalar_type_code)
         {
           mat = NumpyMap<MatType,Scalar>::map(pyArray); // avoid useless cast
           return;
         }
 
-        switch(pyArray_Type)
+        switch(pyArray_type_code)
         {
           case NPY_INT:
             EIGENPY_CAST_FROM_PYARRAY_TO_EIGEN_MATRIX(MatType,int,Scalar,pyArray,mat);
@@ -376,7 +382,7 @@ namespace eigenpy
       }
       else
       {
-        assert(pyArray_Type == NumpyEquivalentType<Scalar>::type_code);
+        assert(pyArray_type_code == Scalar_type_code);
         typename NumpyMap<MatType,Scalar,Options,NumpyMapStride>::EigenMap numpyMap = NumpyMap<MatType,Scalar,Options,NumpyMapStride>::map(pyArray);
         RefType mat_ref(numpyMap);
         new (raw_ptr) StorageType(mat_ref,pyArray);

include/eigenpy/eigen-to-python.hpp

@@ -25,7 +25,7 @@ namespace boost { namespace python {
 
 #ifndef BOOST_PYTHON_NO_PY_SIGNATURES
     inline PyTypeObject const*
-    get_pytype()const
+    get_pytype() const
     {
       return converter::registered_pytype<MatrixRef>::get_pytype();
     }

include/eigenpy/numpy-allocator.hpp

@@ -9,8 +9,11 @@
 #include "eigenpy/numpy-type.hpp"
 #include "eigenpy/eigen-allocator.hpp"
 
+#include "eigenpy/register.hpp"
+
 namespace eigenpy
 {
+
   template<typename MatType>
   struct NumpyAllocator
   {
@@ -20,8 +23,8 @@ namespace eigenpy
     {
       typedef typename SimilarMatrixType::Scalar Scalar;
 
-      PyArrayObject * pyArray = (PyArrayObject*) call_PyArray_SimpleNew(static_cast<int>(nd), shape,
-                                                                        NumpyEquivalentType<Scalar>::type_code);
+      const int code = Register::getTypeCode<Scalar>();
+      PyArrayObject * pyArray = (PyArrayObject*) call_PyArray_SimpleNew(static_cast<int>(nd), shape, code);
 
       // Copy data
       EigenAllocator<SimilarMatrixType>::copy(mat,pyArray);
@@ -42,8 +45,11 @@ namespace eigenpy
 
       if(NumpyType::sharedMemory())
       {
-        PyArrayObject * pyArray = (PyArrayObject*) call_PyArray_New(static_cast<int>(nd), shape,
-                                                                    NumpyEquivalentType<Scalar>::type_code,
+        const int Scalar_type_code = Register::getTypeCode<Scalar>();
+        PyArrayObject * pyArray = (PyArrayObject*) call_PyArray_New(getPyArrayType(),
+                                                                    static_cast<int>(nd),
+                                                                    shape,
+                                                                    Scalar_type_code,
                                                                     mat.data(),
                                                                     NPY_ARRAY_MEMORY_CONTIGUOUS | NPY_ARRAY_ALIGNED);
 
@@ -77,8 +83,11 @@ namespace eigenpy
 
       if(NumpyType::sharedMemory())
       {
-        PyArrayObject * pyArray = (PyArrayObject*) call_PyArray_New(static_cast<int>(nd), shape,
-                                                                    NumpyEquivalentType<Scalar>::type_code,
+        const int Scalar_type_code = Register::getTypeCode<Scalar>();
+        PyArrayObject * pyArray = (PyArrayObject*) call_PyArray_New(getPyArrayType(),
+                                                                    static_cast<int>(nd),
+                                                                    shape,
+                                                                    Scalar_type_code,
                                                                     const_cast<SimilarMatrixType &>(mat.derived()).data(),
                                                                     NPY_ARRAY_MEMORY_CONTIGUOUS_RO | NPY_ARRAY_ALIGNED);
 

include/eigenpy/numpy-type.hpp

@@ -9,22 +9,35 @@
 #include "eigenpy/scalar-conversion.hpp"
 
 #include <patchlevel.h> // For PY_MAJOR_VERSION
+#include <stdexcept>
+#include <typeinfo>
+#include <sstream>
 
 namespace eigenpy
 {
   namespace bp = boost::python;
 
-  template <typename SCALAR>  struct NumpyEquivalentType {};
+  // By default, the Scalar is considered as a Python object
+  template <typename Scalar> struct NumpyEquivalentType { enum  { type_code = NPY_USERDEF };};
 
   template <> struct NumpyEquivalentType<float>   { enum { type_code = NPY_FLOAT  };};
   template <> struct NumpyEquivalentType< std::complex<float> >   { enum { type_code = NPY_CFLOAT  };};
   template <> struct NumpyEquivalentType<double>  { enum { type_code = NPY_DOUBLE };};
   template <> struct NumpyEquivalentType< std::complex<double> >  { enum { type_code = NPY_CDOUBLE };};
   template <> struct NumpyEquivalentType<long double>  { enum { type_code = NPY_LONGDOUBLE };};
   template <> struct NumpyEquivalentType< std::complex<long double> >  { enum { type_code = NPY_CLONGDOUBLE };};
+  template <> struct NumpyEquivalentType<bool>    { enum { type_code = NPY_BOOL  };};
   template <> struct NumpyEquivalentType<int>     { enum { type_code = NPY_INT    };};
   template <> struct NumpyEquivalentType<long>    { enum { type_code = NPY_LONG    };};
 
+  template<typename Scalar>
+  bool isNumpyNativeType()
+  {
+    if(NumpyEquivalentType<Scalar>::type_code == NPY_USERDEF)
+      return false;
+    return true;
+  }
+
   template<typename Scalar>
   bool np_type_is_convertible_into_scalar(const int np_type)
   {

include/eigenpy/numpy.hpp

@@ -18,6 +18,7 @@
 #endif
 
 #include <numpy/noprefix.h>
+#include <numpy/ufuncobject.h>
 
 #if defined _WIN32 || defined __CYGWIN__
   #define EIGENPY_GET_PY_ARRAY_TYPE(array) \
@@ -30,21 +31,34 @@
 namespace eigenpy
 {
   void EIGENPY_DLLEXPORT import_numpy();
+  int EIGENPY_DLLEXPORT PyArray_TypeNum(PyTypeObject * type);
 }
 
 #if defined _WIN32 || defined __CYGWIN__
 namespace eigenpy
 {
-  EIGENPY_DLLEXPORT PyObject*  call_PyArray_SimpleNew(int nd, npy_intp * shape, int np_type);
+  EIGENPY_DLLEXPORT PyObject* call_PyArray_SimpleNew(int nd, npy_intp * shape, int np_type);
 
-  EIGENPY_DLLEXPORT PyObject* call_PyArray_New(int nd, npy_intp * shape, int np_type, void * data_ptr, int options);
+  EIGENPY_DLLEXPORT PyObject* call_PyArray_New(PyTypeObject * py_type_ptr, int nd, npy_intp * shape, int np_type, void * data_ptr, int options);
 
   EIGENPY_DLLEXPORT int call_PyArray_ObjectType(PyObject *, int);
+
+  EIGENPY_DLLEXPORT PyTypeObject * getPyArrayType();
+
+  EIGENPY_DLLEXPORT PyArray_Descr * call_PyArray_DescrFromType(int typenum);
+
+  EIGENPY_DLLEXPORT void call_PyArray_InitArrFuncs(PyArray_ArrFuncs * funcs);
+
+  EIGENPY_DLLEXPORT int call_PyArray_RegisterDataType(PyArray_Descr * dtype);
 }
 #else
   #define call_PyArray_SimpleNew PyArray_SimpleNew
-  #define call_PyArray_New(nd,shape,np_type,data_ptr,options) \
-    PyArray_New(&PyArray_Type,nd,shape,np_type,NULL,data_ptr,0,options,NULL)
+  #define call_PyArray_New(py_type_ptr,nd,shape,np_type,data_ptr,options) \
+    PyArray_New(py_type_ptr,nd,shape,np_type,NULL,data_ptr,0,options,NULL)
+  #define getPyArrayType() &PyArray_Type
+  #define call_PyArray_DescrFromType(typenum) PyArray_DescrFromType(typenum)
+  #define call_PyArray_InitArrFuncs(funcs) PyArray_InitArrFuncs(funcs)
+ #define call_PyArray_RegisterDataType(dtype) PyArray_RegisterDataType(dtype)
 #endif
 
 #endif // ifndef __eigenpy_numpy_hpp__