fwd.hpp

/*
 * Copyright 2014-2024 CNRS INRIA
 */

#ifndef __eigenpy_fwd_hpp__
#define __eigenpy_fwd_hpp__

#if defined(__clang__)
#define EIGENPY_CLANG_COMPILER
#elif defined(__GNUC__)
#define EIGENPY_GCC_COMPILER
#elif defined(_MSC_VER)
#define EIGENPY_MSVC_COMPILER
#endif

#if (__cplusplus >= 201703L || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703))
#define EIGENPY_WITH_CXX17_SUPPORT
#endif

#if (__cplusplus >= 201402L || (defined(_MSVC_LANG) && _MSVC_LANG >= 201403))
#define EIGENPY_WITH_CXX14_SUPPORT
#endif

#if (__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600))
#define EIGENPY_WITH_CXX11_SUPPORT
#endif

#define EIGENPY_STRING_LITERAL(string) #string
#define EIGENPY_STRINGIZE(string) EIGENPY_STRING_LITERAL(string)
#define _EIGENPY_PPCAT(A, B) A##B
#define EIGENPY_PPCAT(A, B) _EIGENPY_PPCAT(A, B)
#define EIGENPY_STRINGCAT(A, B) A B

// For more details, visit
// https://stackoverflow.com/questions/171435/portability-of-warning-preprocessor-directive
#if defined(EIGENPY_CLANG_COMPILER) || defined(EIGENPY_GCC_COMPILER)
#define EIGENPY_PRAGMA(x) _Pragma(#x)
#define EIGENPY_PRAGMA_MESSAGE(the_message) \
 EIGENPY_PRAGMA(GCC message #the_message)
#define EIGENPY_PRAGMA_WARNING(the_message) \
 EIGENPY_PRAGMA(GCC warning #the_message)
#define EIGENPY_PRAGMA_DEPRECATED(the_message) \
 EIGENPY_PRAGMA_WARNING(Deprecated : #the_message)
#define EIGENPY_PRAGMA_DEPRECATED_HEADER(old_header, new_header) \
 EIGENPY_PRAGMA_WARNING( \
 Deprecated header file : #old_header has been replaced \
 by #new_header.\n Please use #new_header instead of #old_header.)
#elif defined(WIN32)
#define EIGENPY_PRAGMA(x) __pragma(#x)
#define EIGENPY_PRAGMA_MESSAGE(the_message) \
 EIGENPY_PRAGMA(message(#the_message))
#define EIGENPY_PRAGMA_WARNING(the_message) \
 EIGENPY_PRAGMA(message(EIGENPY_STRINGCAT("WARNING: ", the_message)))
#endif

#define EIGENPY_DEPRECATED_MACRO(macro, the_message) \
 EIGENPY_PRAGMA_WARNING( \
 EIGENPY_STRINGCAT("this macro is deprecated: ", the_message))
#define EIGENPY_DEPRECATED_FILE(the_message) \
 EIGENPY_PRAGMA_WARNING( \
 EIGENPY_STRINGCAT("this file is deprecated: ", the_message))

#define EIGENPY_DOCUMENTATION_START_IGNORE
#define EIGENPY_DOCUMENTATION_END_IGNORE

#include "eigenpy/config.hpp"
#include <boost/type_traits/is_base_of.hpp>

// Silence a warning about a deprecated use of boost bind by boost python
// at least fo boost 1.73 to 1.75
// ref. https://github.com/stack-of-tasks/tsid/issues/128
#define BOOST_BIND_GLOBAL_PLACEHOLDERS
#include <boost/python.hpp>
#include <boost/python/scope.hpp>

#include <type_traits>
#include <utility>

namespace eigenpy {

namespace bp = boost::python;

}

#define NO_IMPORT_ARRAY
#include "eigenpy/numpy.hpp"
#undef NO_IMPORT_ARRAY

#undef BOOST_BIND_GLOBAL_PLACEHOLDERS

#include <Eigen/Core>
#include <Eigen/Sparse>
#include <Eigen/Geometry>

#ifdef EIGENPY_WITH_CXX11_SUPPORT
#include <unsupported/Eigen/CXX11/Tensor>
#define EIGENPY_WITH_TENSOR_SUPPORT
#endif

#if EIGEN_VERSION_AT_LEAST(3, 2, 90)
#define EIGENPY_DEFAULT_ALIGNMENT_VALUE Eigen::Aligned16
#else
#define EIGENPY_DEFAULT_ALIGNMENT_VALUE Eigen::Aligned
#endif

#define EIGENPY_DEFAULT_ALIGN_BYTES EIGEN_DEFAULT_ALIGN_BYTES

#define EIGENPY_NO_ALIGNMENT_VALUE Eigen::Unaligned

#define EIGENPY_UNUSED_VARIABLE(var) (void)(var)
#define EIGENPY_UNUSED_TYPE(type) EIGENPY_UNUSED_VARIABLE((type *)(NULL))
#ifndef NDEBUG
#define EIGENPY_USED_VARIABLE_ONLY_IN_DEBUG_MODE(var)
#else
#define EIGENPY_USED_VARIABLE_ONLY_IN_DEBUG_MODE(var) \
 EIGENPY_UNUSED_VARIABLE(var)
#endif

#ifdef EIGENPY_WITH_CXX11_SUPPORT
#include <memory>
#define EIGENPY_SHARED_PTR_HOLDER_TYPE(T) ::std::shared_ptr<T>
#else
#include <boost/shared_ptr.hpp>
#define EIGENPY_SHARED_PTR_HOLDER_TYPE(T) ::boost::shared_ptr<T>
#endif

namespace eigenpy {

// Default Scalar value can't be defined in the declaration
// because of a CL bug.
// See https://github.com/stack-of-tasks/eigenpy/pull/462
template <typename MatType, typename Scalar>
struct EigenToPy;
template <typename MatType, typename Scalar>
struct EigenFromPy;

template <typename T>
struct remove_const_reference {
 typedef typename boost::remove_const<
 typename boost::remove_reference<T>::type>::type type;
};

template <typename EigenType>
struct get_eigen_base_type {
 typedef typename remove_const_reference<EigenType>::type EigenType_;
 typedef typename boost::mpl::if_<
 boost::is_base_of<Eigen::MatrixBase<EigenType_>, EigenType_>,
 Eigen::MatrixBase<EigenType_>,
 typename boost::mpl::if_<
 boost::is_base_of<Eigen::SparseMatrixBase<EigenType_>, EigenType_>,
 Eigen::SparseMatrixBase<EigenType_>
#ifdef EIGENPY_WITH_TENSOR_SUPPORT
 ,
 typename boost::mpl::if_<
 boost::is_base_of<Eigen::TensorBase<EigenType_>, EigenType_>,
 Eigen::TensorBase<EigenType_>, void>::type
#else
 ,
 void
#endif
 >::type>::type _type;

 typedef typename boost::mpl::if_<
 boost::is_const<typename boost::remove_reference<EigenType>::type>,
 const _type, _type>::type type;
};

template <typename EigenType>
struct get_eigen_plain_type;

template <typename MatType, int Options, typename Stride>
struct get_eigen_plain_type<Eigen::Ref<MatType, Options, Stride>> {
 typedef typename Eigen::internal::traits<
 Eigen::Ref<MatType, Options, Stride>>::PlainObjectType type;
};

#ifdef EIGENPY_WITH_TENSOR_SUPPORT
template <typename TensorType>
struct get_eigen_plain_type<Eigen::TensorRef<TensorType>> {
 typedef TensorType type;
};
#endif

namespace internal {
template <class T1, class T2>
struct has_operator_equal_impl {
 template <class U, class V>
 static auto check(U *) -> decltype(std::declval<U>() == std::declval<V>());
 template <typename, typename>
 static auto check(...) -> std::false_type;

 using type = typename std::is_same<bool, decltype(check<T1, T2>(0))>::type;
};
} // namespace internal

template <class T1, class T2 = T1>
struct has_operator_equal : internal::has_operator_equal_impl<T1, T2>::type {};

namespace literals {
inline boost::python::arg operator"" _a(const char *name, std::size_t) {
 return boost::python::arg(name);
}
} // namespace literals

} // namespace eigenpy

#include "eigenpy/alignment.hpp"
#include "eigenpy/id.hpp"

#endif // ifndef __eigenpy_fwd_hpp__