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+
+Universal functions
+===================
+
+Standard mathematical functions can be calculated on any scalar,
+scalar-valued iterable (ranges, lists, tuples containing numbers), and
+on ``ndarray``\ s without having to change the call signature. In all
+cases the functions return a new ``ndarray`` of typecode ``float``
+(since these functions usually generate float values, anyway). The only
+exceptions to this rule are the ``exp``, and ``sqrt`` functions, which,
+if ``ULAB_SUPPORTS_COMPLEX`` is set to 1 in
+`ulab.h <https://github.com/v923z/micropython-ulab/blob/master/code/ulab.h>`__,
+can return complex arrays, depending on the argument. All functions
+execute faster with ``ndarray`` arguments than with iterables, because
+the values of the input vector can be extracted faster.
+
+At present, the following functions are supported (starred functions can
+operate on, or can return complex arrays):
+
+``acos``, ``acosh``, ``arctan2``, ``around``, ``asin``, ``asinh``,
+``atan``, ``arctan2``, ``atanh``, ``ceil``, ``cos``, ``degrees``,
+``exp*``, ``expm1``, ``floor``, ``log``, ``log10``, ``log2``,
+``radians``, ``sin``, ``sinh``, ``sqrt*``, ``tan``, ``tanh``.
+
+These functions are applied element-wise to the arguments, thus, e.g.,
+the exponential of a matrix cannot be calculated in this way, only the
+exponential of the matrix entries.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    a = range(9)
+    b = np.array(a)
+    
+    # works with ranges, lists, tuples etc.
+    print('a:\t', a)
+    print('exp(a):\t', np.exp(a))
+    
+    # with 1D arrays
+    print('\n=============\nb:\n', b)
+    print('exp(b):\n', np.exp(b))
+    
+    # as well as with matrices
+    c = np.array(range(9)).reshape((3, 3))
+    print('\n=============\nc:\n', c)
+    print('exp(c):\n', np.exp(c))
+
+.. parsed-literal::
+
+    a:	 range(0, 9)
+    exp(a):	 array([1.0, 2.718281828459045, 7.38905609893065, 20.08553692318767, 54.59815003314424, 148.4131591025766, 403.4287934927351, 1096.633158428459, 2980.957987041728], dtype=float64)
+    
+    =============
+    b:
+     array([0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0], dtype=float64)
+    exp(b):
+     array([1.0, 2.718281828459045, 7.38905609893065, 20.08553692318767, 54.59815003314424, 148.4131591025766, 403.4287934927351, 1096.633158428459, 2980.957987041728], dtype=float64)
+    
+    =============
+    c:
+     array([[0.0, 1.0, 2.0],
+           [3.0, 4.0, 5.0],
+           [6.0, 7.0, 8.0]], dtype=float64)
+    exp(c):
+     array([[1.0, 2.718281828459045, 7.38905609893065],
+           [20.08553692318767, 54.59815003314424, 148.4131591025766],
+           [403.4287934927351, 1096.633158428459, 2980.957987041728]], dtype=float64)
+    
+    
+
+
+Computation expenses
+--------------------
+
+The overhead for calculating with micropython iterables is quite
+significant: for the 1000 samples below, the difference is more than 800
+microseconds, because internally the function has to create the
+``ndarray`` for the output, has to fetch the iterable’s items of unknown
+type, and then convert them to floats. All these steps are skipped for
+``ndarray``\ s, because these pieces of information are already known.
+
+Doing the same with ``list`` comprehension requires 30 times more time
+than with the ``ndarray``, which would become even more, if we converted
+the resulting list to an ``ndarray``.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    import math
+    
+    a = [0]*1000
+    b = np.array(a)
+    
+    @timeit
+    def timed_vector(iterable):
+        return np.exp(iterable)
+    
+    @timeit
+    def timed_list(iterable):
+        return [math.exp(i) for i in iterable]
+    
+    print('iterating over ndarray in ulab')
+    timed_vector(b)
+    
+    print('\niterating over list in ulab')
+    timed_vector(a)
+    
+    print('\niterating over list in python')
+    timed_list(a)
+
+.. parsed-literal::
+
+    iterating over ndarray in ulab

+    execution time:  441  us

+    

+    iterating over list in ulab

+    execution time:  1266  us

+    

+    iterating over list in python

+    execution time:  11379  us

+    
+
+
+arctan2
+-------
+
+``numpy``:
+https://docs.scipy.org/doc/numpy-1.17.0/reference/generated/numpy.arctan2.html
+
+The two-argument inverse tangent function is also part of the ``vector``
+sub-module. The function implements broadcasting as discussed in the
+section on ``ndarray``\ s. Scalars (``micropython`` integers or floats)
+are also allowed.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    a = np.array([1, 2.2, 33.33, 444.444])
+    print('a:\n', a)
+    print('\narctan2(a, 1.0)\n', np.arctan2(a, 1.0))
+    print('\narctan2(1.0, a)\n', np.arctan2(1.0, a))
+    print('\narctan2(a, a): \n', np.arctan2(a, a))
+
+.. parsed-literal::
+
+    a:
+     array([1.0, 2.2, 33.33, 444.444], dtype=float64)
+    
+    arctan2(a, 1.0)
+     array([0.7853981633974483, 1.14416883366802, 1.5408023243361, 1.568546328341769], dtype=float64)
+    
+    arctan2(1.0, a)
+     array([0.7853981633974483, 0.426627493126876, 0.02999400245879636, 0.002249998453127392], dtype=float64)
+    
+    arctan2(a, a): 
+     array([0.7853981633974483, 0.7853981633974483, 0.7853981633974483, 0.7853981633974483], dtype=float64)
+    
+    
+
+
+around
+------
+
+``numpy``:
+https://docs.scipy.org/doc/numpy-1.17.0/reference/generated/numpy.around.html
+
+``numpy``\ ’s ``around`` function can also be found in the ``vector``
+sub-module. The function implements the ``decimals`` keyword argument
+with default value ``0``. The first argument must be an ``ndarray``. If
+this is not the case, the function raises a ``TypeError`` exception.
+Note that ``numpy`` accepts general iterables. The ``out`` keyword
+argument known from ``numpy`` is not accepted. The function always
+returns an ndarray of type ``mp_float_t``.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    a = np.array([1, 2.2, 33.33, 444.444])
+    print('a:\t\t', a)
+    print('\ndecimals = 0\t', np.around(a, decimals=0))
+    print('\ndecimals = 1\t', np.around(a, decimals=1))
+    print('\ndecimals = -1\t', np.around(a, decimals=-1))
+
+.. parsed-literal::
+
+    a:		 array([1.0, 2.2, 33.33, 444.444], dtype=float64)
+    
+    decimals = 0	 array([1.0, 2.0, 33.0, 444.0], dtype=float64)
+    
+    decimals = 1	 array([1.0, 2.2, 33.3, 444.4], dtype=float64)
+    
+    decimals = -1	 array([0.0, 0.0, 30.0, 440.0], dtype=float64)
+    
+    
+
+
+exp
+---
+
+If ``ULAB_SUPPORTS_COMPLEX`` is set to 1 in
+`ulab.h <https://github.com/v923z/micropython-ulab/blob/master/code/ulab.h>`__,
+the exponential function can also take complex arrays as its argument,
+in which case the return value is also complex.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    a = np.array([1, 2, 3])
+    print('a:\t\t', a)
+    print('exp(a):\t\t', np.exp(a))
+    print()
+    
+    b = np.array([1+1j, 2+2j, 3+3j], dtype=np.complex)
+    print('b:\t\t', b)
+    print('exp(b):\t\t', np.exp(b))
+
+.. parsed-literal::
+
+    a:		 array([1.0, 2.0, 3.0], dtype=float64)
+    exp(a):		 array([2.718281828459045, 7.38905609893065, 20.08553692318767], dtype=float64)
+    
+    b:		 array([1.0+1.0j, 2.0+2.0j, 3.0+3.0j], dtype=complex)
+    exp(b):		 array([1.468693939915885+2.287355287178842j, -3.074932320639359+6.71884969742825j, -19.88453084414699+2.834471132487004j], dtype=complex)
+    
+    
+
+
+sqrt
+----
+
+If ``ULAB_SUPPORTS_COMPLEX`` is set to 1 in
+`ulab.h <https://github.com/v923z/micropython-ulab/blob/master/code/ulab.h>`__,
+the exponential function can also take complex arrays as its argument,
+in which case the return value is also complex. If the input is real,
+but the results might be complex, the user is supposed to specify the
+output ``dtype`` in the function call. Otherwise, the square roots of
+negative numbers will result in ``NaN``.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    a = np.array([1, -1])
+    print('a:\t\t', a)
+    print('sqrt(a):\t\t', np.sqrt(a))
+    print('sqrt(a):\t\t', np.sqrt(a, dtype=np.complex))
+
+.. parsed-literal::
+
+    a:		 array([1.0, -1.0], dtype=float64)
+    sqrt(a):		 array([1.0, nan], dtype=float64)
+    sqrt(a):		 array([1.0+0.0j, 0.0+1.0j], dtype=complex)
+    
+    
+
+
+Vectorising generic python functions
+------------------------------------
+
+``numpy``:
+https://numpy.org/doc/stable/reference/generated/numpy.vectorize.html
+
+The examples above use factory functions. In fact, they are nothing but
+the vectorised versions of the standard mathematical functions.
+User-defined ``python`` functions can also be vectorised by help of
+``vectorize``. This function takes a positional argument, namely, the
+``python`` function that you want to vectorise, and a non-mandatory
+keyword argument, ``otypes``, which determines the ``dtype`` of the
+output array. The ``otypes`` must be ``None`` (default), or any of the
+``dtypes`` defined in ``ulab``. With ``None``, the output is
+automatically turned into a float array.
+
+The return value of ``vectorize`` is a ``micropython`` object that can
+be called as a standard function, but which now accepts either a scalar,
+an ``ndarray``, or a generic ``micropython`` iterable as its sole
+argument. Note that the function that is to be vectorised must have a
+single argument.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    def f(x):
+        return x*x
+    
+    vf = np.vectorize(f)
+    
+    # calling with a scalar
+    print('{:20}'.format('f on a scalar: '), vf(44.0))
+    
+    # calling with an ndarray
+    a = np.array([1, 2, 3, 4])
+    print('{:20}'.format('f on an ndarray: '), vf(a))
+    
+    # calling with a list
+    print('{:20}'.format('f on a list: '), vf([2, 3, 4]))
+
+.. parsed-literal::
+
+    f on a scalar:       array([1936.0], dtype=float64)
+    f on an ndarray:     array([1.0, 4.0, 9.0, 16.0], dtype=float64)
+    f on a list:         array([4.0, 9.0, 16.0], dtype=float64)
+    
+    
+
+
+As mentioned, the ``dtype`` of the resulting ``ndarray`` can be
+specified via the ``otypes`` keyword. The value is bound to the function
+object that ``vectorize`` returns, therefore, if the same function is to
+be vectorised with different output types, then for each type a new
+function object must be created.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    l = [1, 2, 3, 4]
+    def f(x):
+        return x*x
+    
+    vf1 = np.vectorize(f, otypes=np.uint8)
+    vf2 = np.vectorize(f, otypes=np.float)
+    
+    print('{:20}'.format('output is uint8: '), vf1(l))
+    print('{:20}'.format('output is float: '), vf2(l))
+
+.. parsed-literal::
+
+    output is uint8:     array([1, 4, 9, 16], dtype=uint8)
+    output is float:     array([1.0, 4.0, 9.0, 16.0], dtype=float64)
+    
+    
+
+
+The ``otypes`` keyword argument cannot be used for type coercion: if the
+function evaluates to a float, but ``otypes`` would dictate an integer
+type, an exception will be raised:
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    int_list = [1, 2, 3, 4]
+    float_list = [1.0, 2.0, 3.0, 4.0]
+    def f(x):
+        return x*x
+    
+    vf = np.vectorize(f, otypes=np.uint8)
+    
+    print('{:20}'.format('integer list: '), vf(int_list))
+    # this will raise a TypeError exception
+    print(vf(float_list))
+
+.. parsed-literal::
+
+    integer list:        array([1, 4, 9, 16], dtype=uint8)
+    
+    Traceback (most recent call last):
+      File "/dev/shm/micropython.py", line 14, in <module>
+    TypeError: can't convert float to int
+    
+
+
+Benchmarks
+~~~~~~~~~~
+
+It should be pointed out that the ``vectorize`` function produces the
+pseudo-vectorised version of the ``python`` function that is fed into
+it, i.e., on the C level, the same ``python`` function is called, with
+the all-encompassing ``mp_obj_t`` type arguments, and all that happens
+is that the ``for`` loop in ``[f(i) for i in iterable]`` runs purely in
+C. Since type checking and type conversion in ``f()`` is expensive, the
+speed-up is not so spectacular as when iterating over an ``ndarray``
+with a factory function: a gain of approximately 30% can be expected,
+when a native ``python`` type (e.g., ``list``) is returned by the
+function, and this becomes around 50% (a factor of 2), if conversion to
+an ``ndarray`` is also counted.
+
+The following code snippet calculates the square of a 1000 numbers with
+the vectorised function (which returns an ``ndarray``), with ``list``
+comprehension, and with ``list`` comprehension followed by conversion to
+an ``ndarray``. For comparison, the execution time is measured also for
+the case, when the square is calculated entirely in ``ulab``.
+
+.. code::
+        
+    # code to be run in micropython
+    
+    from ulab import numpy as np
+    
+    def f(x):
+        return x*x
+    
+    vf = np.vectorize(f)
+    
+    @timeit
+    def timed_vectorised_square(iterable):
+        return vf(iterable)
+    
+    @timeit
+    def timed_python_square(iterable):
+        return [f(i) for i in iterable]
+    
+    @timeit
+    def timed_ndarray_square(iterable):
+        return np.array([f(i) for i in iterable])
+    
+    @timeit
+    def timed_ulab_square(ndarray):
+        return ndarray**2
+    
+    print('vectorised function')
+    squares = timed_vectorised_square(range(1000))
+    
+    print('\nlist comprehension')
+    squares = timed_python_square(range(1000))
+    
+    print('\nlist comprehension + ndarray conversion')
+    squares = timed_ndarray_square(range(1000))
+    
+    print('\nsquaring an ndarray entirely in ulab')
+    a = np.array(range(1000))
+    squares = timed_ulab_square(a)
+
+.. parsed-literal::
+
+    vectorised function

+    execution time:  7237  us

+    

+    list comprehension

+    execution time:  10248  us

+    

+    list comprehension + ndarray conversion

+    execution time:  12562  us

+    

+    squaring an ndarray entirely in ulab

+    execution time:  560  us

+    
+
+
+From the comparisons above, it is obvious that ``python`` functions
+should only be vectorised, when the same effect cannot be gotten in
+``ulab`` only. However, although the time savings are not significant,
+there is still a good reason for caring about vectorised functions.
+Namely, user-defined ``python`` functions become universal, i.e., they
+can accept generic iterables as well as ``ndarray``\ s as their
+arguments. A vectorised function is still a one-liner, resulting in
+transparent and elegant code.
+
+A final comment on this subject: the ``f(x)`` that we defined is a
+*generic* ``python`` function. This means that it is not required that
+it just crunches some numbers. It has to return a number object, but it
+can still access the hardware in the meantime. So, e.g.,
+
+.. code:: python
+
+
+   led = pyb.LED(2)
+
+   def f(x):
+       if x < 100:
+           led.toggle()
+       return x*x
+
+is perfectly valid code.