Merge pull request #22 from jcarpent/devel

Fix cast and getitem for CppAD::cg::CG
Simple-Robotics · Jun 2, 2022 · b13e04e · b13e04e
2 parents 6b97b07 + 57a7e7d
commit b13e04e
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Showing 4 changed files with 87 additions and 3 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2021 INRIA
+# Copyright (c) 2021-2022 INRIA
 #
 
 CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
@@ -51,7 +51,7 @@ ENDIF(BUILD_WITH_CPPAD_CODEGEN_BINDINGS)
 
 ADD_PROJECT_DEPENDENCY(cppad 20180000.0 REQUIRED PKG_CONFIG_REQUIRES "cppad >= 20180000.0")
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
-ADD_PROJECT_DEPENDENCY(eigenpy 2.6.6 REQUIRED)
+ADD_PROJECT_DEPENDENCY(eigenpy 2.7.6 REQUIRED)
 
 SET(${PROJECT_NAME}_HEADERS
   include/${PROJECT_NAME}/fwd.hpp

diff --git a/include/pycppad/ad.hpp b/include/pycppad/ad.hpp
@@ -116,6 +116,15 @@ namespace pycppad
 
       eigenpy::registerNewType<AD>();
       eigenpy::registerCommonUfunc<AD>();
+
+      eigenpy::registerCast<AD,double>(false);
+      eigenpy::registerCast<double,AD>(true);
+      eigenpy::registerCast<AD,float>(false);
+      eigenpy::registerCast<float,AD>(true);
+      eigenpy::registerCast<AD,long>(false);
+      eigenpy::registerCast<long,AD>(true);
+      eigenpy::registerCast<AD,int>(false);
+      eigenpy::registerCast<int,AD>(true);
     }
   };
 }

diff --git a/include/pycppad/cast.hpp b/include/pycppad/cast.hpp
@@ -1,12 +1,14 @@
 /*
- * Copyright 2021 INRIA
+ * Copyright 2021-2022 INRIA
  */
 
 #ifndef __pycppad_cast_hpp__
 #define __pycppad_cast_hpp__
 
 #include "pycppad/fwd.hpp"
 
+#include <eigenpy/user-type.hpp>
+
 namespace pycppad
 {
   namespace internal
@@ -42,4 +44,26 @@ namespace pycppad
   } // namespace internal
 } // namespace pycppad
 
+namespace eigenpy {
+
+template <typename Scalar, typename To>
+struct cast<::CppAD::AD<Scalar>, To>
+{
+  typedef ::CppAD::AD<Scalar> From;
+  static To run(const From & from) {
+    return ::pycppad::internal::Cast<From, To>::run(from);
+  }
+};
+
+template <typename From, typename Scalar>
+struct cast<From,::CppAD::AD<Scalar>>
+{
+  typedef ::CppAD::AD<Scalar> To;
+  static To run(const From & from) {
+    return To(static_cast<Scalar>(from));
+  }
+};
+
+} // namespace eigenpy
+
 #endif //#ifndef __pycppad_cast_hpp__
diff --git a/include/pycppad/codegen/cg.hpp b/include/pycppad/codegen/cg.hpp
@@ -12,6 +12,48 @@
 
 #include "pycppad/cast.hpp"
 
+namespace eigenpy {
+
+template <typename Scalar, typename To>
+struct cast<::CppAD::cg::CG<Scalar>, To>
+{
+  typedef ::CppAD::cg::CG<Scalar> From;
+  static To run(const From & from) {
+    return ::pycppad::internal::Cast<From, To>::run(from);
+  }
+};
+
+template <typename From, typename Scalar>
+struct cast<From,::CppAD::cg::CG<Scalar>>
+{
+  typedef ::CppAD::cg::CG<Scalar> To;
+  static To run(const From & from) {
+    return To(static_cast<Scalar>(from));
+  }
+};
+
+namespace internal {
+
+template <typename Scalar>
+struct getitem<::CppAD::cg::CG<Scalar>> {
+
+  typedef ::CppAD::cg::CG<Scalar> CG;
+
+  static PyObject* run(void* data, void* /* arr */) {
+    CG & cg = *static_cast<CG*>(data);
+
+    if(!cg.isValueDefined()) // not initialized
+      cg.setValue(static_cast<Scalar>(0));
+
+    bp::object m(cg);
+    Py_INCREF(m.ptr());
+    return m.ptr();
+  }
+};
+
+} // namespace internal
+} // namespace eigenpy
+
 namespace pycppad
 {
   namespace internal
@@ -126,6 +168,15 @@ namespace pycppad
 
         eigenpy::registerNewType<CG>();
         eigenpy::registerCommonUfunc<CG>();
+
+        eigenpy::registerCast<CG,double>(false);
+        eigenpy::registerCast<double,CG>(true);
+        eigenpy::registerCast<CG,float>(false);
+        eigenpy::registerCast<float,CG>(true);
+        eigenpy::registerCast<CG,long>(false);
+        eigenpy::registerCast<long,CG>(true);
+        eigenpy::registerCast<CG,int>(false);
+        eigenpy::registerCast<int,CG>(true);
       }
     };