From 0392614aac1077deba9d526cf7bacf5934746df5 Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Fri, 19 Nov 2010 17:56:19 +0100
Subject: [PATCH] Add support for vector and matrix
* include/CMakeLists.txt,
* include/dynamic-graph/command-setter.t.cpp,
* include/dynamic-graph/value.h,
* src/command/value.cpp.
Types for vector and matrix are boost::numeric::ublas::vector<double>
and boost::numeric::ublas::matrix<double>.
---
include/CMakeLists.txt | 1 +
include/dynamic-graph/command-setter.t.cpp | 73 ++++++++++++++++++++++
include/dynamic-graph/linear-algebra.h | 30 +++++++++
include/dynamic-graph/value.h | 23 ++++---
src/command/value.cpp | 57 +++++++++++++++++
5 files changed, 177 insertions(+), 7 deletions(-)
create mode 100644 include/dynamic-graph/linear-algebra.h
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 1fbec3a..b90f198 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -67,6 +67,7 @@ tracer.h
tracer-real-time.h
command.h
+linear-algebra.h
value.h
command-setter.h
command-setter.t.cpp
diff --git a/include/dynamic-graph/command-setter.t.cpp b/include/dynamic-graph/command-setter.t.cpp
index 962dd8e..7d26fc4 100644
--- a/include/dynamic-graph/command-setter.t.cpp
+++ b/include/dynamic-graph/command-setter.t.cpp
@@ -20,6 +20,7 @@
#include <sstream>
#include <boost/assign/list_of.hpp>
+#include "dynamic-graph/linear-algebra.h"
namespace dynamicgraph {
class Entity;
@@ -241,6 +242,78 @@ namespace dynamicgraph {
return Value();
}
+ //
+ // Template specialization: Vector
+ //
+ template <class E>
+ class Setter<E, Vector> : public Command {
+ public:
+ /// Pointer to method that sets paramter of type Vector
+ typedef void (E::*SetterMethod) (const Vector&);
+ /// Constructor
+ Setter(E& entity, SetterMethod);
+
+ protected:
+ virtual Value doExecute();
+
+ private:
+ SetterMethod setterMethod_;
+ }; // Class Setter
+
+ template <class E>
+ Setter<E, Vector>::Setter(E& entity, SetterMethod setterMethod) :
+ Command(entity, boost::assign::list_of(Value::VECTOR)),
+ setterMethod_(setterMethod)
+ {
+ }
+
+ template <class E>
+ Value Setter<E, Vector>::doExecute()
+ {
+ const std::vector<Value>& values = getParameterValues();
+ // Get parameter
+ Vector value = values[0].value();
+ E& entity = static_cast<E&>(owner());
+ (entity.*setterMethod_)(value);
+ return Value();
+ }
+
+ //
+ // Template specialization: Matrix
+ //
+ template <class E>
+ class Setter<E, Matrix> : public Command {
+ public:
+ /// Pointer to method that sets paramter of type Matrix
+ typedef void (E::*SetterMethod) (const Matrix&);
+ /// Constructor
+ Setter(E& entity, SetterMethod);
+
+ protected:
+ virtual Value doExecute();
+
+ private:
+ SetterMethod setterMethod_;
+ }; // Class Setter
+
+ template <class E>
+ Setter<E, Matrix>::Setter(E& entity, SetterMethod setterMethod) :
+ Command(entity, boost::assign::list_of(Value::MATRIX)),
+ setterMethod_(setterMethod)
+ {
+ }
+
+ template <class E>
+ Value Setter<E, Matrix>::doExecute()
+ {
+ const std::vector<Value>& values = getParameterValues();
+ // Get parameter
+ Matrix value = values[0].value();
+ E& entity = static_cast<E&>(owner());
+ (entity.*setterMethod_)(value);
+ return Value();
+ }
+
} // namespace command
} // namespace dynamicgraph
diff --git a/include/dynamic-graph/linear-algebra.h b/include/dynamic-graph/linear-algebra.h
new file mode 100644
index 0000000..0ec3dd1
--- /dev/null
+++ b/include/dynamic-graph/linear-algebra.h
@@ -0,0 +1,30 @@
+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+// This file is part of dynamic-graph.
+// dynamic-graph is free software: you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public License
+// as published by the Free Software Foundation, either version 3 of
+// the License, or (at your option) any later version.
+// dynamic-graph 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 Lesser General Public License for more details. You should
+// have received a copy of the GNU Lesser General Public License along
+// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
+#define DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
+
+#include <boost/numeric/ublas/vector.hpp>
+#include <boost/numeric/ublas/matrix.hpp>
+namespace dynamicgraph {
+ typedef ::boost::numeric::ublas::vector<double> Vector;
+ typedef ::boost::numeric::ublas::matrix<double> Matrix;
+}
+
+#endif //DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
+
+
diff --git a/include/dynamic-graph/value.h b/include/dynamic-graph/value.h
index 5346afb..f7d6deb 100644
--- a/include/dynamic-graph/value.h
+++ b/include/dynamic-graph/value.h
@@ -23,6 +23,7 @@
#include <cassert>
#include <typeinfo>
#include "dynamic-graph/dynamic-graph-api.h"
+#include "dynamic-graph/linear-algebra.h"
namespace dynamicgraph {
namespace command {
@@ -37,6 +38,8 @@ namespace dynamicgraph {
operator float () const;
operator double () const;
operator std::string () const;
+ operator Vector () const;
+ operator Matrix () const;
private:
const Value* value_;
};
@@ -51,19 +54,23 @@ namespace dynamicgraph {
FLOAT,
DOUBLE,
STRING,
+ VECTOR,
+ MATRIX,
NB_TYPES
};
~Value();
- Value(const bool& value);
- Value(const unsigned& value);
- Value(const int& value);
- Value(const float& value);
- Value(const double& value);
- Value(const std::string& value);
+ explicit Value(const bool& value);
+ explicit Value(const unsigned& value);
+ explicit Value(const int& value);
+ explicit Value(const float& value);
+ explicit Value(const double& value);
+ explicit Value(const std::string& value);
+ explicit Value(const Vector& value);
+ explicit Value(const Matrix& value);
/// Copy constructor
Value(const Value& value);
// Construct an empty value (None)
- Value();
+ explicit Value();
/// Return the type of the value
Type type() const;
@@ -92,6 +99,8 @@ namespace dynamicgraph {
float floatValue() const;
double doubleValue() const;
std::string stringValue() const;
+ Vector vectorValue() const;
+ Matrix matrixValue() const;
Type type_;
const void* value_;
};
diff --git a/src/command/value.cpp b/src/command/value.cpp
index b965bf3..4e699bd 100644
--- a/src/command/value.cpp
+++ b/src/command/value.cpp
@@ -15,6 +15,7 @@
// have received a copy of the GNU Lesser General Public License along
// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+#include <boost/numeric/ublas/io.hpp>
#include "dynamic-graph/value.h"
#include "dynamic-graph/exception-abstract.h"
@@ -54,6 +55,14 @@ namespace dynamicgraph {
{
return value_->stringValue();
}
+ EitherType::operator Vector () const
+ {
+ return value_->vectorValue();
+ }
+ EitherType::operator Matrix () const
+ {
+ return value_->matrixValue();
+ }
Value::~Value()
{
@@ -76,6 +85,12 @@ namespace dynamicgraph {
case STRING:
delete (std::string*)value_;
break;
+ case VECTOR:
+ delete (Vector*)value_;
+ break;
+ case MATRIX:
+ delete (Matrix*)value_;
+ break;
default:;
}
}
@@ -110,6 +125,16 @@ namespace dynamicgraph {
value_ = new std::string(value);
type_ = STRING;
}
+ Value::Value(const Vector& value)
+ {
+ value_ = new Vector(value);
+ type_ = VECTOR;
+ }
+ Value::Value(const Matrix& value)
+ {
+ value_ = new Matrix(value);
+ type_ = MATRIX;
+ }
Value::Value(const Value& value) : type_(value.type_)
@@ -133,6 +158,12 @@ namespace dynamicgraph {
case STRING:
value_ = new std::string(value.stringValue());
break;
+ case VECTOR:
+ value_ = new Vector(value.vectorValue());
+ break;
+ case MATRIX:
+ value_ = new Matrix(value.matrixValue());
+ break;
default:
type_ = NONE;
value_ = NULL;
@@ -205,6 +236,22 @@ namespace dynamicgraph {
"value is not an string");
}
+ Vector Value::vectorValue () const
+ {
+ if (type_ == VECTOR)
+ return *((Vector*)value_);
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
+ "value is not an vector");
+ }
+
+ Matrix Value::matrixValue () const
+ {
+ if (type_ == MATRIX)
+ return *((Matrix*)value_);
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
+ "value is not a matrix");
+ }
+
std::string Value::typeName(Type type)
{
switch (type) {
@@ -220,6 +267,10 @@ namespace dynamicgraph {
return std::string("double");
case STRING:
return std::string("string");
+ case VECTOR:
+ return std::string("vector");
+ case MATRIX:
+ return std::string("matrix");
default:
return std::string("unknown");
}
@@ -248,6 +299,12 @@ namespace dynamicgraph {
case Value::STRING:
os << value.stringValue();
break;
+ case Value::VECTOR:
+ os << value.vectorValue();
+ break;
+ case Value::MATRIX:
+ os << value.matrixValue();
+ break;
default:
return os;
}
--
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