Topic/cython

CMakeLists.txt

@@ -24,6 +24,9 @@ endif()
 
 setup_project()
 
+option(PYTHON_BINDING "Generate python binding." ON)
+option(PYTHON_BINDING_USER_INSTALL "Install the Python bindings in user space" OFF)
+
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
 
 if(UNIX)
@@ -50,6 +53,10 @@ add_definitions("-DEIGEN_QUADPROG_EXPORT")
 add_subdirectory(src)
 add_subdirectory(tests)
 
+if(${PYTHON_BINDING})
+  add_subdirectory(binding/python)
+endif()
+
 # Add dependency towards the library in the pkg-config file.
 pkg_config_append_libs(${PROJECT_NAME})
 

binding/python/CMakeLists.txt

@@ -0,0 +1,63 @@
+# Copyright 2012-2017 CNRS-UM LIRMM, CNRS-AIST JRL
+#
+# This file is part of eigen-quadprog.
+#
+# eigen-quadprog is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# eigen-quadprog is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with eigen-quadprog.  If not, see <http://www.gnu.org/licenses/>.
+
+macro(GET_EQUADPROG_PROPERTY PROPERTY)
+  get_target_property(EQUADPROG_${PROPERTY} eigen-quadprog ${PROPERTY})
+  if(NOT EQUADPROG_${PROPERTY})
+    set(EQUADPROG_${PROPERTY} "")
+  endif()
+endmacro()
+GET_EQUADPROG_PROPERTY(COMPILE_FLAGS)
+GET_EQUADPROG_PROPERTY(INCLUDE_DIRECTORIES)
+LIST(APPEND EQUADPROG_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/../../src)
+GET_EQUADPROG_PROPERTY(LINK_FLAGS)
+GET_EQUADPROG_PROPERTY(LINK_LIBRARIES)
+GET_EQUADPROG_PROPERTY(LOCATION)
+configure_file(setup.in.py ${CMAKE_CURRENT_SOURCE_DIR}/setup.py)
+
+# Build the bindings locally at build time for test purposes
+add_custom_target(eigen-quadprog-python-bindings ALL
+  COMMAND python setup.py build_ext --inplace
+  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+  COMMENT "Generating local eigen-quadprog Python bindings"
+  DEPENDS eigen_quadprog/c_eigen_quadprog.pxd eigen_quadprog/eigen_quadprog.pxd eigen_quadprog/eigen_quadprog.pyx
+)
+
+if(NOT ${DISABLE_TESTS})
+  add_custom_target(test-eigen-quadprog-python-bindings
+    COMMAND nosetests
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    COMMENT "Test eigen-quadprog Python bindings"
+    DEPENDS tests/test_eigen-quadprog_pickle.py
+  )
+  add_test(NAME PythonBindingsTest
+    COMMAND nosetests
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+  )
+endif()
+
+set(PIP_EXTRA_OPTIONS "")
+if(${PYTHON_BINDING_USER_INSTALL})
+  set(PIP_EXTRA_OPTIONS "--user")
+endif()
+# Install the bindings
+add_custom_target(install-eigen-quadprog-python-bindings
+  COMMAND pip install . ${PIP_EXTRA_OPTIONS}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+  COMMENT "Install eigen-quadprog Python bindings"
+)
+install(CODE "execute_process(COMMAND ${CMAKE_MAKE_PROGRAM} install-eigen-quadprog-python-bindings)")

binding/python/eigen_quadprog/__init__.py

@@ -0,0 +1 @@
+from .eigen_quadprog import *

binding/python/eigen_quadprog/c_eigen_quadprog.pxd

@@ -0,0 +1,35 @@
+# Copyright 2012-2017 CNRS-UM LIRMM, CNRS-AIST JRL
+#
+# This file is part of eigen-lssol.
+#
+# eigen-lssol is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# eigen-lssol is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with eigen-lssol.  If not, see <http://www.gnu.org/licenses/>.
+
+cimport eigen.c_eigen as c_eigen
+from libcpp cimport bool
+
+cdef extern from "<eigen-quadprog/QuadProg.h>" namespace "Eigen":
+  cdef cppclass QuadProgDense:
+    QuadProgDense()
+    QuadProgDense(int, int, int)
+
+    void problem(int, int, int)
+
+    const c_eigen.VectorXd& result()
+
+    double cost()
+
+    bool solve(const c_eigen.MatrixXd&, const c_eigen.VectorXd&,
+        const c_eigen.MatrixXd&,
+        const c_eigen.VectorXd&, const c_eigen.MatrixXd&,
+        const c_eigen.VectorXd&, bool)

binding/python/eigen_quadprog/eigen_quadprog.pxd

@@ -0,0 +1,21 @@
+# Copyright 2012-2017 CNRS-UM LIRMM, CNRS-AIST JRL
+#
+# This file is part of eigen-quadprog.
+#
+# eigen-lssol is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# eigen-lssol is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with eigen-lssol.  If not, see <http://www.gnu.org/licenses/>.
+
+cimport c_eigen_quadprog
+
+cdef class QuadProgDense(object):
+  cdef c_eigen_quadprog.QuadProgDense * impl

binding/python/eigen_quadprog/eigen_quadprog.pyx

@@ -0,0 +1,50 @@
+# distutils: language = c++
+
+# Copyright 2012-2017 CNRS-UM LIRMM, CNRS-AIST JRL
+#
+# This file is part of eigen-quadprog.
+#
+# eigen-lssol is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# eigen-lssol is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with eigen-lssol.  If not, see <http://www.gnu.org/licenses/>.
+
+cdef extern from "private_typedefs.h":
+  pass
+
+cimport c_eigen_quadprog
+
+cimport eigen.eigen as eigen
+
+cdef class QuadProgDense(object):
+  def __dealloc__(self):
+    if type(self) is QuadProgDense:
+      del self.impl
+  def __cinit__(self, *args):
+    if type(self) is not QuadProgDense:
+      return
+    if len(args) == 0:
+      self.impl = new c_eigen_quadprog.QuadProgDense()
+    elif len(args) == 3:
+      self.impl = new c_eigen_quadprog.QuadProgDense(args[0], args[1], args[2])
+    else:
+      raise TypeError("Wrong arguments passed to LSSOL ctor")
+  def problem(self, nrvar, nreq, nrineq):
+    self.impl.problem(nrvar, nreq, nrineq)
+  def result(self):
+    return eigen.VectorXdFromC(self.impl.result())
+  def cost(self):
+    return self.impl.cost()
+  def solve(self, eigen.MatrixXd Q, eigen.VectorXd C,
+                  eigen.MatrixXd Aeq, eigen.VectorXd Beq,
+                  eigen.MatrixXd Aineq, eigen.VectorXd Bineq,
+                  isDecomp = False):
+    return self.impl.solve(Q.impl, C.impl, Aeq.impl, Beq.impl, Aineq.impl, Bineq.impl,isDecomp)

binding/python/eigen_quadprog/private_typedefs.h

@@ -0,0 +1,7 @@
+#include <Eigen/Core>
+
+namespace Eigen
+{
+  typedef Matrix<double, 6, 1> Vector6d;
+  typedef Matrix<double, 6, 6> Matrix6d;
+}

binding/python/setup.in.py

@@ -0,0 +1,119 @@
+# Copyright 2012-2017 CNRS-UM LIRMM, CNRS-AIST JRL
+#
+# This file is part of eigen-quadprog.
+#
+# eigen-quadprog is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# eigen-quadprog is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with eigen-quadprog.  If not, see <http://www.gnu.org/licenses/>.
+
+from __future__ import print_function
+try:
+  from setuptools import setup
+  from setuptools import Extension
+except ImportError:
+  from distutils.core import setup
+  from distutils.extension import Extension
+
+from Cython.Build import cythonize
+
+import hashlib
+import os
+import subprocess
+
+from numpy import get_include as numpy_get_include
+
+win32_build = os.name == 'nt'
+
+this_path  = os.path.dirname(os.path.realpath(__file__))
+with open(this_path + '/eigen_quadprog/__init__.py', 'w') as fd:
+    fd.write('from .eigen_quadprog import *\n')
+
+sha512 = hashlib.sha512()
+src_files = ['eigen_quadprog/eigen_quadprog.pyx', 'eigen_quadprog/c_eigen_quadprog.pxd', 'eigen_quadprog/eigen_quadprog.pxd']
+src_files = [ '{}/{}'.format(this_path, f) for f in src_files ]
+for f in src_files:
+  chunk = 2**16
+  with open(f, 'r') as fd:
+    while True:
+      data = fd.read(chunk)
+      if data:
+        sha512.update(data.encode('ascii'))
+      else:
+        break
+version_hash = sha512.hexdigest()[:7]
+
+class pkg_config(object):
+  def __init__(self):
+    self.compile_args = []
+    self.include_dirs = [ x for x in '@EQUADPROG_INCLUDE_DIRECTORIES@'.split(';') if len(x) ]
+    self.library_dirs = [ x for x in '@EQUADPROG_LINK_FLAGS@'.split(';') if len(x) ]
+    self.libraries = ['eigen-quadprog']
+    equadprog_location = '@EQUADPROG_LOCATION@'
+    self.library_dirs.append(os.path.dirname(equadprog_location))
+    self.found = True
+
+python_libs = []
+python_lib_dirs = []
+python_others = []
+if not win32_build:
+  tokens = subprocess.check_output(['python-config', '--ldflags']).split()
+  tokens = [ token.decode('ascii') for token in tokens ]
+  for token in tokens:
+    flag = token[:2]
+    value = token[2:]
+    if flag == '-l':
+      python_libs.append(value)
+    elif flag == '-L':
+      python_lib_dirs.append(value)
+    elif token[:1] == '-':
+      python_others.append(token)
+
+config = pkg_config()
+
+config.compile_args.append('-std=c++11')
+for o in python_others:
+  config.compile_args.append(o)
+config.include_dirs.append(os.getcwd() + "/include")
+if not win32_build:
+  config.library_dirs.extend(python_lib_dirs)
+  config.libraries.extend(python_libs)
+else:
+  config.compile_args.append("-DWIN32")
+
+def GenExtension(name, pkg, ):
+  pyx_src = name.replace('.', '/')
+  cpp_src = pyx_src + '.cpp'
+  pyx_src = pyx_src + '.pyx'
+  ext_src = pyx_src
+  if pkg.found:
+    return Extension(name, [ext_src], extra_compile_args = pkg.compile_args, include_dirs = pkg.include_dirs + [numpy_get_include()], library_dirs = pkg.library_dirs, libraries = pkg.libraries)
+  else:
+    print("Failed to find {}".format(pkg.name))
+    return None
+
+extensions = [
+  GenExtension('eigen_quadprog.eigen_quadprog', config)
+]
+
+extensions = [ x for x in extensions if x is not None ]
+packages = ['eigen_quadprog']
+data = ['__init__.py', 'c_eigen_quadprog.pxd', 'eigen_quadprog.pxd']
+
+extensions = cythonize(extensions)
+
+setup(
+    name = 'eigen_quadprog',
+    version='1.0.0-{}'.format(version_hash),
+    ext_modules = extensions,
+    packages = packages,
+    package_data = { 'eigen_quadprog': data }
+)