NDArray.h

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, 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/>.
 *
 * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
// STD/STL
#include <cstddef>
#include <functional>
#include <map>
#include <memory>
#include <numeric>
#include <vector>
 
// Base class
#include "../detail/ComplexVariant.h"
 
// ArmarX
#include "../container/Dict.h"
 
// Types
#include "../../../type/variant/ndarray/All.h"
 
namespace armarx::aron::data
{
    class NDArray;
    using NDArrayPtr = std::shared_ptr<NDArray>;
 
    class NDArray : public detail::ComplexVariant<data::dto::NDArray, NDArray>
    {
    public:
        // constructors
        NDArray(const Path& path = Path());
        NDArray(const data::dto::NDArrayPtr&, const Path& path = Path());
        NDArray(const std::vector<int>&,
                const std::string&,
                const std::vector<unsigned char>&,
                const Path& path = Path());
 
        // operators
        using detail::ComplexVariant<data::dto::NDArray, NDArray>::operator==;
 
        virtual bool operator==(const NDArray&) const override;
        bool operator==(const NDArrayPtr&) const override;
 
        // static methods
        static PointerType FromNDArrayDTO(const data::dto::NDArrayPtr& aron);
        static data::dto::NDArrayPtr ToNDArrayDTO(const PointerType& navigator);
 
        /// Return dimensions in a readable string such as "(2, 3, 4)".
        static std::string DimensionsToString(const std::vector<int>& dimensions);
 
        // public member functions
        DictPtr getAsDict() const;
 
        unsigned char* getData() const;
        void setData(unsigned int, const unsigned char*);
 
        std::vector<unsigned char> getDataAsVector() const;
 
        std::vector<int> getShape() const;
        void setShape(const std::vector<int>&);
        void addToShape(int);
 
        std::string getType() const;
        void setType(const std::string&);
 
        data::dto::NDArrayPtr toNDArrayDTO() const;
 
        // virtual implementations
        using Base::clone;
        NDArrayPtr clone(const Path& p) const override;
 
        virtual std::string getShortName() const override;
        virtual std::string getFullName() const override;
 
        virtual type::VariantPtr recalculateType() const override;
        virtual bool fullfillsType(const type::VariantPtr&) const override;
    };
} // namespace armarx::aron::data
 
namespace armarx::aron
{
    template <typename... _Args>
    aron::data::NDArrayPtr
    make_ndarray(_Args&&... args)
    {
        return std::make_shared<aron::data::NDArray>(args...);
    }
} // namespace armarx::aron