test: add test of complex types

Author: jcarpent

unittest/CMakeLists.txt

@@ -1,6 +1,6 @@
 #
 # Copyright (c) 2014-2019 CNRS
-# Copyright (c) 2018-2019 INRIA
+# Copyright (c) 2018-2020 INRIA
 #
 
 MACRO(ADD_LIB_UNIT_TEST test PKGS)
@@ -31,12 +31,14 @@ ENDMACRO(ADD_LIB_UNIT_TEST)
 
 ADD_LIB_UNIT_TEST(matrix "eigen3")
 ADD_LIB_UNIT_TEST(geometry "eigen3")
+ADD_LIB_UNIT_TEST(complex "eigen3")
 IF(NOT ${EIGEN3_VERSION} VERSION_LESS "3.2.0")
   ADD_LIB_UNIT_TEST(ref "eigen3")
 ENDIF()
 
 ADD_PYTHON_UNIT_TEST("py-matrix" "unittest/python/test_matrix.py" "unittest")
 ADD_PYTHON_UNIT_TEST("py-geometry" "unittest/python/test_geometry.py" "unittest")
+ADD_PYTHON_UNIT_TEST("py-complex" "unittest/python/test_complex.py" "unittest")
 
 ADD_PYTHON_UNIT_TEST("py-switch" "unittest/python/test_switch.py" "python/eigenpy")
 SET_TESTS_PROPERTIES("py-switch" PROPERTIES DEPENDS ${PYWRAP})

unittest/complex.cpp

@@ -0,0 +1,79 @@
+/*
+ * Copyright 2020 INRIA
+ */
+
+#include "eigenpy/eigenpy.hpp"
+
+namespace Eigen
+{
+  #define EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Size, SizeSuffix)   \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix;  \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Matrix<Type, Size, 1>    Vector##SizeSuffix##TypeSuffix;  \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Matrix<Type, 1, Size>    RowVector##SizeSuffix##TypeSuffix;
+
+  #define EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, Size)         \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Matrix<Type, Size, Dynamic> Matrix##Size##X##TypeSuffix;  \
+  /** \ingroup matrixtypedefs */                                    \
+  typedef Matrix<Type, Dynamic, Size> Matrix##X##Size##TypeSuffix;
+
+  #define EIGEN_MAKE_TYPEDEFS_ALL_SIZES(Type, TypeSuffix) \
+  EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 2, 2) \
+  EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 3, 3) \
+  EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, 4, 4) \
+  EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \
+  EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 2) \
+  EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 3) \
+  EIGEN_MAKE_FIXED_TYPEDEFS(Type, TypeSuffix, 4)
+
+  EIGEN_MAKE_TYPEDEFS_ALL_SIZES(long double,               ld)
+  EIGEN_MAKE_TYPEDEFS_ALL_SIZES(std::complex<long double>, cld)
+
+  #undef EIGEN_MAKE_TYPEDEFS_ALL_SIZES
+  #undef EIGEN_MAKE_TYPEDEFS
+  #undef EIGEN_MAKE_FIXED_TYPEDEFS
+}
+
+template<typename ComplexMatrix>
+typename Eigen::Matrix<typename ComplexMatrix::RealScalar,ComplexMatrix::RowsAtCompileTime,ComplexMatrix::ColsAtCompileTime,ComplexMatrix::Options>
+real(const Eigen::MatrixBase<ComplexMatrix> & complex_mat)
+{
+  return complex_mat.real();
+}
+
+template<typename ComplexMatrix>
+typename Eigen::Matrix<typename ComplexMatrix::RealScalar,ComplexMatrix::RowsAtCompileTime,ComplexMatrix::ColsAtCompileTime,ComplexMatrix::Options>
+imag(const Eigen::MatrixBase<ComplexMatrix> & complex_mat)
+{
+  return complex_mat.imag();
+}
+
+template<typename Scalar, int Rows, int Cols, int Options>
+Eigen::Matrix<std::complex<Scalar>,Rows,Cols,Options>
+ascomplex(const Eigen::Matrix<Scalar,Rows,Cols,Options> & mat)
+{
+  typedef Eigen::Matrix<std::complex<Scalar>,Rows,Cols,Options> ReturnType;
+  return ReturnType(mat);
+}
+
+BOOST_PYTHON_MODULE(complex)
+{
+  using namespace Eigen;
+  namespace bp = boost::python;
+  eigenpy::enableEigenPy();
+  
+  bp::def("ascomplex", ascomplex<float,Eigen::Dynamic,Eigen::Dynamic,0>);
+  bp::def("ascomplex", ascomplex<double,Eigen::Dynamic,Eigen::Dynamic,0>);
+  bp::def("ascomplex", ascomplex<long double,Eigen::Dynamic,Eigen::Dynamic,0>);
+  
+  bp::def("real", (MatrixXf (*)(const Eigen::MatrixBase<MatrixXcf> &))&real<MatrixXcf>);
+  bp::def("real", (MatrixXd (*)(const Eigen::MatrixBase<MatrixXcd> &))&real<MatrixXcd>);
+  bp::def("real", (MatrixXld (*)(const Eigen::MatrixBase<MatrixXcld> &))&real<MatrixXcld>);
+  
+  bp::def("imag", (MatrixXf (*)(const Eigen::MatrixBase<MatrixXcf> &))&imag<MatrixXcf>);
+  bp::def("imag", (MatrixXd (*)(const Eigen::MatrixBase<MatrixXcd> &))&imag<MatrixXcd>);
+  bp::def("imag", (MatrixXld (*)(const Eigen::MatrixBase<MatrixXcld> &))&imag<MatrixXcld>);
+}

unittest/python/test_complex.py

@@ -0,0 +1,31 @@
+from __future__ import print_function
+
+import numpy as np
+from complex import *
+
+switchToNumpyArray()
+
+rows = 10
+cols = 20
+
+def test(dtype):
+  Z = np.zeros((rows,cols),dtype=dtype)
+  Z.real = np.random.rand(rows,cols)
+  Z.imag = np.random.rand(rows,cols)
+
+  Z_real = real(Z)
+  assert (Z_real == Z.real).all()
+  Z_imag = imag(Z)
+  assert (Z_imag == Z.imag).all()
+
+  Y = np.ones((rows,cols))
+  Y_complex = ascomplex(Y)
+  assert (Y_complex.real == Y).all()
+  assert (Y_complex.imag == np.zeros((rows,cols))).all()
+
+# Float
+test(np.csingle)
+# Double
+test(np.cdouble)
+# Long Double
+test(np.clongdouble)