MatrixVariant.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarX::Core
 * @author     Peter Kaiser <peter.kaiser@kit.edu>
 * @date       2014
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Core>
 
#include <ArmarXCore/interface/observers/Matrix.h>
#include <ArmarXCore/observers/variant/Variant.h>
 
//#include <Eigen/Geometry>
 
namespace armarx::VariantType
{
    // Variant types
    const VariantTypeId MatrixFloat = Variant::addTypeName("::armarx::MatrixFloatBase");
    const VariantTypeId MatrixDouble = Variant::addTypeName("::armarx::MatrixDoubleBase");
} // namespace armarx::VariantType
 
namespace armarx
{
    /**
     * @class MatrixFloat
     * @ingroup VariantsGrp
     * @brief The MatrixFloat class
     */
    class MatrixFloat : virtual public MatrixFloatBase
    {
        template <class BaseClass, class VariantClass>
        friend class GenericFactory;
 
    protected:
        MatrixFloat();
 
    public:
        MatrixFloat(int rows, int cols);
        MatrixFloat(const Eigen::MatrixXf&);
        MatrixFloat(int rows, int cols, const std::vector<float>& entries);
 
        //void setMatrix(int width, int height, const std::vector<float> &entries);
 
        virtual Eigen::MatrixXf toEigen() const;
 
        std::vector<float> toVector() const;
 
        // inherited from VariantDataClass
        Ice::ObjectPtr
        ice_clone() const override
        {
            return this->clone();
        }
 
        VariantDataClassPtr
        clone(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            return new MatrixFloat(*this);
        }
 
        std::string
        output(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            std::stringstream s;
            s << toEigen();
            return s.str();
        }
 
        VariantTypeId
        getType(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            return VariantType::MatrixFloat;
        }
 
        bool
        validate(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return true;
        }
 
        float& operator()(const int x, const int y);
 
        std::string toJsonRowMajor();
 
        friend std::ostream&
        operator<<(std::ostream& stream, const MatrixFloat& rhs)
        {
            stream << "MatrixFloat: " << std::endl << rhs.output() << std::endl;
            return stream;
        }
 
    public:
        // serialization
        void serialize(const armarx::ObjectSerializerBasePtr& serializer,
                       const ::Ice::Current& = Ice::emptyCurrent) const override;
        void deserialize(const armarx::ObjectSerializerBasePtr& serializer,
                         const ::Ice::Current& = Ice::emptyCurrent) override;
    };
 
    using MatrixFloatPtr = IceInternal::Handle<MatrixFloat>;
 
    /**
     * @class MatrixDouble
     * @ingroup VariantsGrp
     * @brief The MatrixDouble class
     */
    class MatrixDouble : virtual public MatrixDoubleBase
    {
        template <class BaseClass, class VariantClass>
        friend class GenericFactory;
 
    protected:
        MatrixDouble();
 
    public:
        MatrixDouble(int rows, int cols);
        MatrixDouble(const Eigen::MatrixXd&);
        MatrixDouble(int rows, int cols, const std::vector<double>& entries);
 
        //void setMatrix(int width, int height, const std::vector<double> &entries);
 
        virtual Eigen::MatrixXd toEigen() const;
 
        // inherited from VariantDataClass
        Ice::ObjectPtr
        ice_clone() const override
        {
            return this->clone();
        }
 
        VariantDataClassPtr
        clone(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            return new MatrixDouble(*this);
        }
 
        std::string
        output(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            std::stringstream s;
            s << toEigen();
            return s.str();
        }
 
        VariantTypeId
        getType(const Ice::Current& c = Ice::emptyCurrent) const override
        {
            return VariantType::MatrixDouble;
        }
 
        bool
        validate(const Ice::Current& c = Ice::emptyCurrent) override
        {
            return true;
        }
 
        double& operator()(const int x, const int y);
 
        std::string toJsonRowMajor();
 
        friend std::ostream&
        operator<<(std::ostream& stream, const MatrixDouble& rhs)
        {
            stream << "MatrixDouble: " << std::endl << rhs.output() << std::endl;
            return stream;
        }
 
    public:
        // serialization
        void serialize(const armarx::ObjectSerializerBasePtr& serializer,
                       const ::Ice::Current& = Ice::emptyCurrent) const override;
        void deserialize(const armarx::ObjectSerializerBasePtr& serializer,
                         const ::Ice::Current& = Ice::emptyCurrent) override;
    };
 
    using MatrixDoublePtr = IceInternal::Handle<MatrixDouble>;
} // namespace armarx