From 3a25234e00af84be7d8401028f061395f2f6af70 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sun, 22 May 2022 20:24:32 +0200
Subject: [PATCH 1/4] core: specialized cast helper

---
 include/pycppad/cast.hpp       | 26 +++++++++++++++++++++++++-
 include/pycppad/codegen/cg.hpp | 22 ++++++++++++++++++++++
 2 files changed, 47 insertions(+), 1 deletion(-)

diff --git a/include/pycppad/cast.hpp b/include/pycppad/cast.hpp
index 7cd2b19..b679cf1 100644
--- a/include/pycppad/cast.hpp
+++ b/include/pycppad/cast.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright 2021 INRIA
+ * Copyright 2021-2022 INRIA
  */
 
 #ifndef __pycppad_cast_hpp__
@@ -7,6 +7,8 @@
 
 #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
index 37700ff..69a8144 100644
--- a/include/pycppad/codegen/cg.hpp
+++ b/include/pycppad/codegen/cg.hpp
@@ -12,6 +12,28 @@
 
 #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 eigenpy
+
 namespace pycppad
 {
   namespace internal

From 2a7c119ed017b16c982a2d549eb3411f8fb8f82e Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sun, 22 May 2022 20:24:47 +0200
Subject: [PATCH 2/4] core: registerCast

---
 include/pycppad/ad.hpp         | 9 +++++++++
 include/pycppad/codegen/cg.hpp | 9 +++++++++
 2 files changed, 18 insertions(+)

diff --git a/include/pycppad/ad.hpp b/include/pycppad/ad.hpp
index e2a5680..95dca06 100644
--- 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/codegen/cg.hpp b/include/pycppad/codegen/cg.hpp
index 69a8144..2bc6944 100644
--- a/include/pycppad/codegen/cg.hpp
+++ b/include/pycppad/codegen/cg.hpp
@@ -148,6 +148,15 @@ 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);
       }
     };
 

From d3708f942f852546674d789b959a4a9061bedb7d Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sun, 22 May 2022 20:52:51 +0200
Subject: [PATCH 3/4] core/cg: template specialization of getitem

---
 include/pycppad/codegen/cg.hpp | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/include/pycppad/codegen/cg.hpp b/include/pycppad/codegen/cg.hpp
index 2bc6944..b05962c 100644
--- a/include/pycppad/codegen/cg.hpp
+++ b/include/pycppad/codegen/cg.hpp
@@ -32,6 +32,26 @@ struct cast<From,::CppAD::cg::CG<Scalar>>
   }
 };
 
+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

From 57a7e7d1a2b55f93beb870d56024da150a22fc3a Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Mon, 23 May 2022 10:56:02 +0200
Subject: [PATCH 4/4] cmake: set minimal eigenpy version

---
 CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c8ae782..a52a4b1 100644
--- 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