robot/include/boost/python/numpy/ndarray.hpp

// Copyright Jim Bosch 2010-2012.
// Copyright Stefan Seefeld 2016.
// Distributed under the Boost Software License, Version 1.0.
// (See accompanying file LICENSE_1_0.txt or copy at
// http://www.boost.org/LICENSE_1_0.txt)

#ifndef boost_python_numpy_ndarray_hpp_
#define boost_python_numpy_ndarray_hpp_

/**
 *  @brief Object manager and various utilities for numpy.ndarray.
 */

#include <boost/python.hpp>
#include <boost/utility/enable_if.hpp>
#include <boost/python/detail/type_traits.hpp>
#include <boost/python/numpy/numpy_object_mgr_traits.hpp>
#include <boost/python/numpy/dtype.hpp>
#include <boost/python/numpy/config.hpp>

#include <vector>

namespace boost { namespace python { namespace numpy {

/**
 *  @brief A boost.python "object manager" (subclass of object) for numpy.ndarray.
 *
 *  @todo This could have a lot more functionality (like boost::python::numeric::array).
 *        Right now all that exists is what was needed to move raw data between C++ and Python.
 */
 
class BOOST_NUMPY_DECL ndarray : public object
{

  /**
   *  @brief An internal struct that's byte-compatible with PyArrayObject.
   *
   *  This is just a hack to allow inline access to this stuff while hiding numpy/arrayobject.h
   *  from the user.
   */
  struct array_struct 
  {
    PyObject_HEAD
    char * data;
    int nd;
    Py_intptr_t * shape;
    Py_intptr_t * strides;
    PyObject * base;
    PyObject * descr;
    int flags;
    PyObject * weakreflist;
  };
  
  /// @brief Return the held Python object as an array_struct.
  array_struct * get_struct() const { return reinterpret_cast<array_struct*>(this->ptr()); }

public:
  
  /**
   *  @brief Enum to represent (some) of Numpy's internal flags.
   *
   *  These don't match the actual Numpy flag values; we can't get those without including 
   *  numpy/arrayobject.h or copying them directly.  That's very unfortunate.
   *
   *  @todo I'm torn about whether this should be an enum.  It's very convenient to not
   *        make these simple integer values for overloading purposes, but the need to
   *        define every possible combination and custom bitwise operators is ugly.
   */
  enum bitflag 
  {
    NONE=0x0, C_CONTIGUOUS=0x1, F_CONTIGUOUS=0x2, V_CONTIGUOUS=0x1|0x2, 
    ALIGNED=0x4, WRITEABLE=0x8, BEHAVED=0x4|0x8,
    CARRAY_RO=0x1|0x4, CARRAY=0x1|0x4|0x8, CARRAY_MIS=0x1|0x8,
    FARRAY_RO=0x2|0x4, FARRAY=0x2|0x4|0x8, FARRAY_MIS=0x2|0x8,
    UPDATE_ALL=0x1|0x2|0x4, VARRAY=0x1|0x2|0x8, ALL=0x1|0x2|0x4|0x8
  };

  BOOST_PYTHON_FORWARD_OBJECT_CONSTRUCTORS(ndarray, object);

  /// @brief Return a view of the scalar with the given dtype.
  ndarray view(dtype const & dt) const;
    
  /// @brief Copy the array, cast to a specified type.
  ndarray astype(dtype const & dt) const;

  /// @brief Copy the scalar (deep for all non-object fields).
  ndarray copy() const;

  /// @brief Return the size of the nth dimension. raises IndexError if k not in [-get_nd() : get_nd()-1 ]
  Py_intptr_t shape(int n) const;

  /// @brief Return the stride of the nth dimension. raises IndexError if k not in [-get_nd() : get_nd()-1]
  Py_intptr_t strides(int n) const;
    
  /**
   *  @brief Return the array's raw data pointer.
   *
   *  This returns char so stride math works properly on it.  It's pretty much
   *  expected that the user will have to reinterpret_cast it.
   */
  char * get_data() const { return get_struct()->data; }

  /// @brief Return the array's data-type descriptor object.
  dtype get_dtype() const;
  
  /// @brief Return the object that owns the array's data, or None if the array owns its own data.
  object get_base() const;
  
  /// @brief Set the object that owns the array's data.  Use with care.
  void set_base(object const & base);
  
  /// @brief Return the shape of the array as an array of integers (length == get_nd()).
  Py_intptr_t const * get_shape() const { return get_struct()->shape; }
  
  /// @brief Return the stride of the array as an array of integers (length == get_nd()).
  Py_intptr_t const * get_strides() const { return get_struct()->strides; }
  
  /// @brief Return the number of array dimensions.
  int get_nd() const { return get_struct()->nd; }
  
  /// @brief Return the array flags.
  bitflag get_flags() const;
  
  /// @brief Reverse the dimensions of the array.
  ndarray transpose() const;
  
  /// @brief Eliminate any unit-sized dimensions.
  ndarray squeeze() const;
  
  /// @brief Equivalent to self.reshape(*shape) in Python.
  ndarray reshape(python::tuple const & shape) const;
  
  /**
   *  @brief If the array contains only a single element, return it as an array scalar; otherwise return
   *         the array.
   *
   *  @internal This is simply a call to PyArray_Return();
   */
  object scalarize() const;
};

/**
 *  @brief Construct a new array with the given shape and data type, with data initialized to zero.
 */
BOOST_NUMPY_DECL ndarray zeros(python::tuple const & shape, dtype const & dt);
BOOST_NUMPY_DECL ndarray zeros(int nd, Py_intptr_t const * shape, dtype const & dt);

/**
 *  @brief Construct a new array with the given shape and data type, with data left uninitialized.
 */
BOOST_NUMPY_DECL ndarray empty(python::tuple const & shape, dtype const & dt);
BOOST_NUMPY_DECL ndarray empty(int nd, Py_intptr_t const * shape, dtype const & dt);

/**
 *  @brief Construct a new array from an arbitrary Python sequence.
 *
 *  @todo This does't seem to handle ndarray subtypes the same way that "numpy.array" does in Python.
 */
BOOST_NUMPY_DECL ndarray array(object const & obj);
BOOST_NUMPY_DECL ndarray array(object const & obj, dtype const & dt);

namespace detail 
{

BOOST_NUMPY_DECL ndarray from_data_impl(void * data,
					dtype const & dt,
					std::vector<Py_intptr_t> const & shape,
					std::vector<Py_intptr_t> const & strides,
					object const & owner,
					bool writeable);

template <typename Container>
ndarray from_data_impl(void * data,
		       dtype const & dt,
		       Container shape,
		       Container strides,
		       object const & owner,
		       bool writeable,
		       typename boost::enable_if< boost::python::detail::is_integral<typename Container::value_type> >::type * enabled = NULL)
{
  std::vector<Py_intptr_t> shape_(shape.begin(),shape.end());
  std::vector<Py_intptr_t> strides_(strides.begin(), strides.end());
  return from_data_impl(data, dt, shape_, strides_, owner, writeable);    
}

BOOST_NUMPY_DECL ndarray from_data_impl(void * data,
					dtype const & dt,
					object const & shape,
					object const & strides,
					object const & owner,
					bool writeable);

} // namespace boost::python::numpy::detail

/**
 *  @brief Construct a new ndarray object from a raw pointer.
 *
 *  @param[in] data    Raw pointer to the first element of the array.
 *  @param[in] dt      Data type descriptor.  Often retrieved with dtype::get_builtin().
 *  @param[in] shape   Shape of the array as STL container of integers; must have begin() and end().
 *  @param[in] strides Shape of the array as STL container of integers; must have begin() and end().
 *  @param[in] owner   An arbitray Python object that owns that data pointer.  The array object will
 *                     keep a reference to the object, and decrement it's reference count when the
 *                     array goes out of scope.  Pass None at your own peril.
 *
 *  @todo Should probably take ranges of iterators rather than actual container objects.
 */
template <typename Container>
inline ndarray from_data(void * data,
			 dtype const & dt,
			 Container shape,
			 Container strides,
			 python::object const & owner)
{
  return numpy::detail::from_data_impl(data, dt, shape, strides, owner, true);
}    

/**
 *  @brief Construct a new ndarray object from a raw pointer.
 *
 *  @param[in] data    Raw pointer to the first element of the array.
 *  @param[in] dt      Data type descriptor.  Often retrieved with dtype::get_builtin().
 *  @param[in] shape   Shape of the array as STL container of integers; must have begin() and end().
 *  @param[in] strides Shape of the array as STL container of integers; must have begin() and end().
 *  @param[in] owner   An arbitray Python object that owns that data pointer.  The array object will
 *                     keep a reference to the object, and decrement it's reference count when the
 *                     array goes out of scope.  Pass None at your own peril.
 *
 *  This overload takes a const void pointer and sets the "writeable" flag of the array to false.
 *
 *  @todo Should probably take ranges of iterators rather than actual container objects.
 */
template <typename Container>
inline ndarray from_data(void const * data,
			 dtype const & dt,
			 Container shape,
			 Container strides,
			 python::object const & owner)
{
  return numpy::detail::from_data_impl(const_cast<void*>(data), dt, shape, strides, owner, false);
}    

/**
 *  @brief Transform an arbitrary object into a numpy array with the given requirements.
 *
 *  @param[in] obj     An arbitrary python object to convert.  Arrays that meet the requirements
 *                     will be passed through directly.
 *  @param[in] dt      Data type descriptor.  Often retrieved with dtype::get_builtin().
 *  @param[in] nd_min  Minimum number of dimensions.
 *  @param[in] nd_max  Maximum number of dimensions.
 *  @param[in] flags   Bitwise OR of flags specifying additional requirements.
 */
BOOST_NUMPY_DECL ndarray from_object(object const & obj,
				     dtype const & dt,
				     int nd_min,
				     int nd_max,
				     ndarray::bitflag flags=ndarray::NONE);

BOOST_NUMPY_DECL inline ndarray from_object(object const & obj,
					    dtype const & dt,
					    int nd,
					    ndarray::bitflag flags=ndarray::NONE)
{
  return from_object(obj, dt, nd, nd, flags);
}

BOOST_NUMPY_DECL inline ndarray from_object(object const & obj,
					    dtype const & dt,
					    ndarray::bitflag flags=ndarray::NONE)
{
  return from_object(obj, dt, 0, 0, flags);
}

BOOST_NUMPY_DECL ndarray from_object(object const & obj,
				     int nd_min,
				     int nd_max,
				     ndarray::bitflag flags=ndarray::NONE);

BOOST_NUMPY_DECL inline ndarray from_object(object const & obj,
					    int nd,
					    ndarray::bitflag flags=ndarray::NONE)
{
  return from_object(obj, nd, nd, flags);
}

BOOST_NUMPY_DECL inline ndarray from_object(object const & obj,
					    ndarray::bitflag flags=ndarray::NONE)
{
  return from_object(obj, 0, 0, flags);
}

BOOST_NUMPY_DECL inline ndarray::bitflag operator|(ndarray::bitflag a,
						   ndarray::bitflag b)
{
  return ndarray::bitflag(int(a) | int(b));
}

BOOST_NUMPY_DECL inline ndarray::bitflag operator&(ndarray::bitflag a,
						   ndarray::bitflag b)
{
  return ndarray::bitflag(int(a) & int(b));
}

} // namespace boost::python::numpy

namespace converter 
{

NUMPY_OBJECT_MANAGER_TRAITS(numpy::ndarray);

}}} // namespace boost::python::converter

#endif