example: custom numeric type

examples/custom_numeric_type/.gitignore

@@ -0,0 +1,3 @@
+include/eigenpy/example/custom/numeric/type/config.hpp
+include/eigenpy/example/custom/numeric/type/deprecated.hpp
+include/eigenpy/example/custom/numeric/type/warning.hpp

examples/custom_numeric_type/CMakeLists.txt

@@ -0,0 +1,213 @@
+# derived from eigenpy/CMakeLists.txt for this example
+
+cmake_minimum_required(VERSION 3.10)
+
+set(PROJECT_NAME eigenpy_example_custom_numeric_type)
+set(PROJECT_DESCRIPTION
+    "An example of using eigenpy with a custom numeric type: Boost.Multiprecision complex numbers"
+)
+set(PROJECT_URL
+    "http://github.com/stack-of-tasks/eigenpy/examples/custom_numeric_type")
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
+set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
+set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
+
+# Check if the submodule cmake have been initialized
+set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
+if(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
+  if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+    message(
+      FATAL_ERROR
+        "\nPlease run the following command first:\ngit submodule update --init\n"
+    )
+  else()
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+      "jrl-cmakemodules"
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+  endif()
+endif()
+
+# Disable -Werror on Unix for now.
+set(CXX_DISABLE_WERROR True)
+set(CMAKE_VERBOSE_MAKEFILE True)
+
+option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
+option(SUFFIX_SO_VERSION "Suffix library name with its version" OFF)
+
+if(DEFINED BUILD_UNIT_TESTS)
+  message(
+    AUTHOR_WARNING "BUILD_UNIT_TESTS is deprecated. Use BUILD_TESTING instead.")
+  set(BUILD_TESTING ${BUILD_UNIT_TESTS})
+endif(DEFINED BUILD_UNIT_TESTS)
+
+include("${JRL_CMAKE_MODULES}/base.cmake")
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+
+include("${JRL_CMAKE_MODULES}/boost.cmake")
+include("${JRL_CMAKE_MODULES}/python.cmake")
+include("${JRL_CMAKE_MODULES}/ide.cmake")
+include("${JRL_CMAKE_MODULES}/apple.cmake")
+
+option(GENERATE_PYTHON_STUBS
+       "Generate the Python stubs associated to the Python library" OFF)
+
+string(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+
+# If needed, fix CMake policy for APPLE systems
+apply_default_apple_configuration()
+check_minimal_cxx_standard(11 ENFORCE)
+
+if(WIN32)
+  set(LINK copy_if_different)
+else(WIN32)
+  set(LINK create_symlink)
+endif(WIN32)
+
+if(CMAKE_CROSSCOMPILING)
+  set(PYTHON_COMPONENTS Interpreter NumPy)
+else()
+  set(PYTHON_COMPONENTS Interpreter Development.Module NumPy)
+endif()
+set(PYTHON_EXPORT_DEPENDENCY ON)
+findpython(REQUIRED)
+
+if(${NUMPY_VERSION} VERSION_LESS "1.16.0")
+  set(NUMPY_WITH_BROKEN_UFUNC_SUPPORT TRUE)
+endif()
+
+if(WIN32)
+  link_directories(${PYTHON_LIBRARY_DIRS})
+  # # Set default Windows build paths SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY
+  # ${PROJECT_BINARY_DIR}/Bin CACHE PATH "Single directory for all libraries")
+  # SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/Bin CACHE PATH
+  # "Single directory for all executables") SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY
+  # ${PROJECT_BINARY_DIR}/Bin CACHE PATH "Sing$le directory for all archives")
+endif(WIN32)
+
+# ----------------------------------------------------
+# --- DEPENDENCIES -----------------------------------
+# ----------------------------------------------------
+
+add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
+add_project_dependency(eigenpy REQUIRED PKG_CONFIG_REQUIRES "eigenpy >= 3.0.0")
+
+set_boost_default_options()
+export_boost_default_options()
+find_package(Boost REQUIRED)
+search_for_boost_python(REQUIRED)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
+find_package(MPFR REQUIRED)
+include_directories(${MPFR_INCLUDES})
+
+find_package(MPC REQUIRED)
+include_directories(${MPC_INCLUDES})
+
+# ----------------------------------------------------
+# --- INCLUDE ----------------------------------------
+# ----------------------------------------------------
+set(${PROJECT_NAME}_HEADERS include/header.hpp)
+
+set(${PROJECT_NAME}_SOURCES src/src.cpp)
+
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                   ${${PROJECT_NAME}_HEADERS})
+
+target_include_directories(
+  ${PROJECT_NAME} SYSTEM
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
+         $<INSTALL_INTERFACE:include>)
+
+target_link_directories(${PROJECT_NAME} PUBLIC ${EIGENPY_LIB_DIR})
+
+modernize_target_link_libraries(
+  ${PROJECT_NAME}
+  SCOPE
+  PUBLIC
+  TARGETS
+  Python${PYTHON_VERSION_MAJOR}::NumPy
+  Eigen3::Eigen
+  eigenpy
+  INCLUDE_DIRS
+  ${EIGEN3_INCLUDE_DIR}
+  ${EIGENPY_INCLUDE_DIR}
+  ${NUMPY_INCLUDE_DIRS}
+  ${PYTHON_INCLUDE_DIR})
+
+target_link_libraries(${PROJECT_NAME} PUBLIC eigenpy::eigenpy ${MPC_LIBRARIES} ${MPFR_LIBRARIES})
+
+if(SUFFIX_SO_VERSION)
+  set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
+
+# silviana did this
+set_target_properties(${PROJECT_NAME} PROPERTIES PREFIX "")
+set_target_properties(${PROJECT_NAME} PROPERTIES SUFFIX ".so")
+
+if(NOT WIN32)
+  target_compile_options(
+    ${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj>
+                            "-Wno-conversion")
+else()
+  target_compile_options(${PROJECT_NAME}
+                         PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj>)
+  target_compile_definitions(${PROJECT_NAME} PUBLIC "HAVE_SNPRINTF")
+endif()
+
+target_link_boost_python(${PROJECT_NAME} PUBLIC)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+  INCLUDES
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+add_header_group(${PROJECT_NAME}_HEADERS)
+add_source_group(${PROJECT_NAME}_SOURCES)
+
+# Install package for ROS
+install(FILES package.xml DESTINATION share/example_)
+# Allows Colcon to find non-Ament packages when using workspace underlays
+file(
+  WRITE
+  ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
+  "")
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
+  DESTINATION share/ament_index/resource_index/packages)
+file(
+  WRITE
+  ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
+  "prepend-non-duplicate;AMENT_PREFIX_PATH;")
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
+  DESTINATION share/${PROJECT_NAME}/hook)
+file(WRITE
+     ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
+     "prepend-non-duplicate;PYTHONPATH;${PYTHON_SITELIB}")
+install(
+  FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
+  DESTINATION share/${PROJECT_NAME}/hook)
+
+# ----------------------------------------------------
+# --- PYTHON LIBRARY ---------------------------------
+# ----------------------------------------------------
+# add_subdirectory(python)
+
+pkg_config_append_libs(${PROJECT_NAME})
+pkg_config_append_cflags("-I${PYTHON_INCLUDE_DIRS}")
+pkg_config_append_cflags("-I${NUMPY_INCLUDE_DIRS}")
+pkg_config_append_boost_libs(${BOOST_COMPONENTS})

examples/custom_numeric_type/cmake/FindMPC.cmake

@@ -0,0 +1,21 @@
+if (MPC_INCLUDES AND MPC_LIBRARIES)
+  set(MPC_FIND_QUIETLY TRUE)
+endif (MPC_INCLUDES AND MPC_LIBRARIES)
+
+find_path(MPC_INCLUDES
+  NAMES
+  mpc.h
+  PATHS
+  $ENV{MPC_INC}
+  ${INCLUDE_INSTALL_DIR}
+)
+
+find_library(MPC_LIBRARIES mpc PATHS $ENV{MPC_LIB} ${LIB_INSTALL_DIR})
+
+include(FindPackageHandleStandardArgs)
+
+# Makes sure that mpc_include and mpc_libraries are valid
+# https://cmake.org/cmake/help/latest/module/FindPackageHandleStandardArgs.html
+find_package_handle_standard_args(MPC DEFAULT_MSG
+                                  MPC_INCLUDES MPC_LIBRARIES)
+mark_as_advanced(MPC_INCLUDES MPC_LIBRARIES)

examples/custom_numeric_type/cmake/FindMPFR.cmake

@@ -0,0 +1,83 @@
+# Try to find the MPFR library
+# See http://www.mpfr.org/
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(MPFR 2.3.0)
+# to require version 2.3.0 to newer of MPFR.
+#
+# Once done this will define
+#
+#  MPFR_FOUND - system has MPFR lib with correct version
+#  MPFR_INCLUDES - the MPFR include directory
+#  MPFR_LIBRARIES - the MPFR library
+#  MPFR_VERSION - MPFR version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2010 Jitse Niesen, <jitse@maths.leeds.ac.uk>
+# Redistribution and use is allowed according to the terms of the BSD license.
+
+# Set MPFR_INCLUDES
+
+find_path(MPFR_INCLUDES
+  NAMES
+  mpfr.h
+  PATHS
+  $ENV{GMPDIR}
+  ${INCLUDE_INSTALL_DIR}
+)
+
+# Set MPFR_FIND_VERSION to 1.0.0 if no minimum version is specified
+
+if(NOT MPFR_FIND_VERSION)
+  if(NOT MPFR_FIND_VERSION_MAJOR)
+    set(MPFR_FIND_VERSION_MAJOR 1)
+  endif(NOT MPFR_FIND_VERSION_MAJOR)
+  if(NOT MPFR_FIND_VERSION_MINOR)
+    set(MPFR_FIND_VERSION_MINOR 0)
+  endif(NOT MPFR_FIND_VERSION_MINOR)
+  if(NOT MPFR_FIND_VERSION_PATCH)
+    set(MPFR_FIND_VERSION_PATCH 0)
+  endif(NOT MPFR_FIND_VERSION_PATCH)
+
+  set(MPFR_FIND_VERSION "${MPFR_FIND_VERSION_MAJOR}.${MPFR_FIND_VERSION_MINOR}.${MPFR_FIND_VERSION_PATCH}")
+endif(NOT MPFR_FIND_VERSION)
+
+
+if(MPFR_INCLUDES)
+
+  # Set MPFR_VERSION
+
+  file(READ "${MPFR_INCLUDES}/mpfr.h" _mpfr_version_header)
+
+  string(REGEX MATCH "define[ \t]+MPFR_VERSION_MAJOR[ \t]+([0-9]+)" _mpfr_major_version_match "${_mpfr_version_header}")
+  set(MPFR_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+MPFR_VERSION_MINOR[ \t]+([0-9]+)" _mpfr_minor_version_match "${_mpfr_version_header}")
+  set(MPFR_MINOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+MPFR_VERSION_PATCHLEVEL[ \t]+([0-9]+)" _mpfr_patchlevel_version_match "${_mpfr_version_header}")
+  set(MPFR_PATCHLEVEL_VERSION "${CMAKE_MATCH_1}")
+
+  set(MPFR_VERSION ${MPFR_MAJOR_VERSION}.${MPFR_MINOR_VERSION}.${MPFR_PATCHLEVEL_VERSION})
+
+  # Check whether found version exceeds minimum version
+
+  if(${MPFR_VERSION} VERSION_LESS ${MPFR_FIND_VERSION})
+    set(MPFR_VERSION_OK FALSE)
+    message(STATUS "MPFR version ${MPFR_VERSION} found in ${MPFR_INCLUDES}, "
+                   "but at least version ${MPFR_FIND_VERSION} is required")
+  else(${MPFR_VERSION} VERSION_LESS ${MPFR_FIND_VERSION})
+    set(MPFR_VERSION_OK TRUE)
+  endif(${MPFR_VERSION} VERSION_LESS ${MPFR_FIND_VERSION})
+
+endif(MPFR_INCLUDES)
+
+# Set MPFR_LIBRARIES
+
+find_library(MPFR_LIBRARIES mpfr PATHS $ENV{GMPDIR} ${LIB_INSTALL_DIR})
+
+# Epilogue
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(MPFR DEFAULT_MSG
+                                  MPFR_INCLUDES MPFR_LIBRARIES MPFR_VERSION_OK)
+mark_as_advanced(MPFR_INCLUDES MPFR_LIBRARIES)

examples/custom_numeric_type/examplescript.py

@@ -0,0 +1,14 @@
+import eigenpy_example_custom_numeric_type as example
+
+x = example.MpfrComplex(2)  # the number 2, in variable precision as a complex number
+
+import numpy as np
+
+M = np.zeros((3,4),dtype=example.MpfrComplex)  # make an array of the custom numeric type
+
+print(M)
+
+
+example.set_to_ones(M)
+
+print(M)