Merge pull request #4 from proyan/devel

Extend support for cppad-codegen

Author: proyan

.github/workflows/cmake.yml

@@ -19,15 +19,15 @@ jobs:
 
     - name: Install Dependencies
       run: |
-        sudo apt install libboost-all-dev libeigen3-dev
+        sudo apt install libboost-python-dev libeigen3-dev
         . /etc/os-release
         sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
         deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $UBUNTU_CODENAME robotpkg
         deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $UBUNTU_CODENAME robotpkg
         EOF
         curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
         sudo apt update
-        sudo apt install robotpkg-cppad robotpkg-py38-eigenpy
+        sudo apt install robotpkg-cppad robotpkg-cppadcodegen robotpkg-py38-eigenpy
 
     - name: Configure CMake
       # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
@@ -38,7 +38,7 @@ jobs:
         export PYTHONPATH=$PYTHONPATH:/opt/openrobots/lib/python3/site-packages:/opt/openrobots/lib/python3/dist-packages
         export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib64:/opt/openrobots/lib/x86_64-linux-gnu:/opt/openrobots/lib/plugin:/opt/openrobots/lib
         export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig:/opt/openrobots/share/pkgconfig:/opt/openrobots/lib/x86_64-linux-gnu/pkgconfig:/opt/openrobots/lib64/pkgconfig
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPYTHON_EXECUTABLE=$(which python3) -DCMAKE_PREFIX_PATH=/opt/openrobots
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPYTHON_EXECUTABLE=$(which python3) -DCMAKE_PREFIX_PATH=/opt/openrobots -DBUILD_CODEGEN_BINDINGS=ON
 
     - name: Build
       # Build your program with the given configuration

CMakeLists.txt

@@ -67,6 +67,7 @@ SET(${PROJECT_NAME}_SOURCES
 IF(BUILD_CODEGEN_BINDINGS)
   LIST(APPEND ${PROJECT_NAME}_HEADERS
     include/${PROJECT_NAME}/codegen/cg.hpp
+    include/${PROJECT_NAME}/codegen/ad.hpp
     include/${PROJECT_NAME}/codegen/cppadcg-scalar.hpp
     )
 ENDIF(BUILD_CODEGEN_BINDINGS)

include/pycppad/ad.hpp

@@ -13,11 +13,12 @@ namespace pycppad
 {
   namespace bp = boost::python;
 
-  template<typename Scalar>
+  template<typename _Scalar>
   class ADVisitor
-  : public bp::def_visitor< ADVisitor<Scalar> >
+  : public bp::def_visitor< ADVisitor<_Scalar> >
   {
   public:
+    typedef _Scalar Scalar;
     typedef ::CppAD::AD<Scalar> AD;
 
     template<class PyClass>

include/pycppad/ad_fun.hpp

@@ -37,7 +37,7 @@ namespace pycppad
       //.def("swap", &ADFun::swap, bp::args("self", "f"))
       .def("from_json", &ADFun::from_json, bp::args("self", "json"))
       //.def("from_graph", &ADFun::from_graph, bp::args("self", "graph_obj"))
-      .def("to_json", &ADFun::to_json, bp::arg("self"))
+      //.def("to_json", &ADFun::to_json, bp::arg("self"))
       .def("size_order", &ADFun::size_order, bp::arg("self"))
       .def("Dependent",&Dependent,
            bp::args("self", "x", "y"))
@@ -74,13 +74,28 @@ namespace pycppad
       return f;
     }
 
+  protected:
+    
+    static std::string & get_class_name()
+    {
+      static std::string class_name;
+      return class_name;
+    }
+    
+    static void set_class_name(const std::string & class_name)
+    {
+      get_class_name() = class_name;
+    }
+
+    
   public:
-    static void expose()
+    static void expose(const std::string & class_name = "ADFun")
     {
-      bp::class_<ADFun, boost::noncopyable>("ADFun",
-			"Class used to hold function objects.\n\n",
-			bp::init<>())
-      .def(ADFunVisitor<Scalar>());
+      set_class_name(class_name);
+      bp::class_<ADFun, boost::noncopyable>(class_name.c_str(),
+					    "Class used to hold function objects.\n\n",
+					    bp::init<>())
+	.def(ADFunVisitor<Scalar>());
 
     }
   };

include/pycppad/codegen/ad.hpp

@@ -0,0 +1,20 @@
+/*
+ * Copyright 2021 INRIA
+ */
+
+#ifndef __pycppad_codegen_ad_hpp__
+#define __pycppad_codegen_ad_hpp__
+
+#include "pycppad/ad.hpp"
+
+namespace pycppad
+{
+ 
+  template<>
+  int64_t ADVisitor<::CppAD::cg::CG<double> >::__int__(const AD & self)
+  {
+    return static_cast<int>(::CppAD::Value<Scalar>(self).getValue());
+  }
+}
+
+#endif //#ifndef __pycppad_ad_hpp__

include/pycppad/codegen/cppadcg-scalar.hpp

@@ -9,6 +9,10 @@
 #include <eigenpy/eigenpy.hpp>
 
 #include "pycppad/codegen/cg.hpp"
+#include "pycppad/codegen/ad.hpp"
+#include "pycppad/ad.hpp"
+#include "pycppad/independent.hpp"
+#include "pycppad/ad_fun.hpp"
 
 
 namespace pycppad
@@ -19,11 +23,23 @@ namespace pycppad
     void exposeCppADCGScalar()
     {
       typedef ::CppAD::cg::CG<Scalar> CGScalar;
+      typedef ::CppAD::AD<CGScalar> ADCGScalar;
+      typedef Eigen::Matrix<ADCGScalar,Eigen::Dynamic,1> VectorADCG;
+      typedef Eigen::Matrix<ADCGScalar,1,Eigen::Dynamic> RowVectorADCG;
 
       eigenpy::exposeType<CGScalar>();
       eigenpy::exposeType<CGScalar,Eigen::RowMajor>();
-      
+
+      eigenpy::exposeType<ADCGScalar>();
+      eigenpy::exposeType<ADCGScalar,Eigen::RowMajor>();
+
       CGVisitor<Scalar>::expose();
+
+
+      pycppad::ADVisitor<CGScalar>::expose("ADCG");
+      pycppad::ADFunVisitor<CGScalar>::expose("ADCGFun");
+      pycppad::IndependentVisitor<VectorADCG>::expose("CGIndependent");
+      pycppad::IndependentVisitor<RowVectorADCG>::expose("CGIndependent");
     }
   }
 }

include/pycppad/independent.hpp

@@ -24,6 +24,20 @@ namespace pycppad
     template<class PyClass>
     void visit(PyClass&) const
     { }
+
+  protected:
+    
+    static std::string & get_class_name()
+    {
+      static std::string class_name;
+      return class_name;
+    }
+    
+    static void set_class_name(const std::string & class_name)
+    {
+      get_class_name() = class_name;
+    }
+
 
   public:
 
@@ -39,9 +53,10 @@ namespace pycppad
       return;
     }
 
-    static void expose()
+    static void expose(const std::string & class_name = "Independent")
     {
-      bp::def("Independent",&Independent,
+      set_class_name(class_name);
+      bp::def(class_name.c_str(),&Independent,
               (bp::arg("x"), bp::arg("abort_op_index") = 0, bp::arg("record_compare") = true),
               "define a variable as Independent."
               "Parameters:\n"