EigenHelpers.h

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/*
 * 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     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Core>
 
namespace armarx
{
 
    template <class ScalarType>
    inline Eigen::Matrix<ScalarType, Eigen::Dynamic, 1>
    MakeVectorX(std::initializer_list<ScalarType> ilist)
    {
        Eigen::Matrix<ScalarType, Eigen::Dynamic, 1> r(ilist.size());
        std::size_t i = 0;
        for (const auto e : ilist)
        {
            r(i++) = e;
        }
        return r;
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(std::initializer_list<float> ilist)
    {
        return MakeVectorX<float>(ilist);
    }
 
    template <class ScalarType, class... Ts>
    inline Eigen::Matrix<ScalarType, Eigen::Dynamic, 1>
    MakeVectorXWarnNarrowing(Ts&&... ts)
    {
        return MakeVectorX<ScalarType>(std::initializer_list<ScalarType>{std::forward<Ts>(ts)...});
    }
 
    template <class ScalarType, class... Ts>
    inline Eigen::Matrix<ScalarType, Eigen::Dynamic, 1>
    MakeVectorXIgnoreNarrowing(Ts&&... ts)
    {
        return MakeVectorX<ScalarType>(
            std::initializer_list<ScalarType>{static_cast<ScalarType>(std::forward<Ts>(ts))...});
    }
 
    template <class ScalarType, class... Ts>
    inline Eigen::Matrix<ScalarType, Eigen::Dynamic, 1>
    MakeVectorX(Ts&&... ts)
    {
        return MakeVectorX<ScalarType>(
            std::initializer_list<ScalarType>{static_cast<ScalarType>(std::forward<Ts>(ts))...});
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(std::vector<float> vec)
    {
        Eigen::Matrix<float, Eigen::Dynamic, 1> r(vec.size());
        std::size_t i = 0;
        for (const auto e : vec)
        {
            r(i++) = e;
        }
        return r;
    }
 
    /* Qt-Creator does not support variable amount of parameters. The following methods are only for Qt-Creator. */
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1)
    {
        return MakeVectorX<float>(f1);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1, float f2)
    {
        return MakeVectorX<float>(f1, f2);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1, float f2, float f3)
    {
        return MakeVectorX<float>(f1, f2, f3);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1, float f2, float f3, float f4)
    {
        return MakeVectorX<float>(f1, f2, f3, f4);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1, float f2, float f3, float f4, float f5)
    {
        return MakeVectorX<float>(f1, f2, f3, f4, f5);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1, float f2, float f3, float f4, float f5, float f6)
    {
        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1, float f2, float f3, float f4, float f5, float f6, float f7)
    {
        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6, f7);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1, float f2, float f3, float f4, float f5, float f6, float f7, float f8)
    {
        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6, f7, f8);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1,
                 float f2,
                 float f3,
                 float f4,
                 float f5,
                 float f6,
                 float f7,
                 float f8,
                 float f9)
    {
        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6, f7, f8, f9);
    }
 
    inline Eigen::Matrix<float, Eigen::Dynamic, 1>
    MakeVectorXf(float f1,
                 float f2,
                 float f3,
                 float f4,
                 float f5,
                 float f6,
                 float f7,
                 float f8,
                 float f9,
                 float f10)
    {
        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6, f7, f8, f9, f10);
    }
 
 
} // namespace armarx