utils_matlab.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

/** \file Provide helper functions for MEX/MATLAB.
 * This file can be safely included without checking MRPT_HAS_MATLAB
 */

#include <mrpt/config.h>
#if MRPT_HAS_MATLAB
#include <mexplus.h>
#endif
#include <mrpt/math/math_frwds.h>

namespace mrpt::math
{
#if MRPT_HAS_MATLAB
/** \addtogroup matlab_grp Helper functions for MEX & MATLAB
 *  \ingroup mrpt_math_grp
 * @{ */

/** Convert vectors, arrays and matrices into Matlab vectors/matrices.
 * Supported input classes:
 *  - Eigen::Matrix<T,N,1>
 *  - mrpt::math::CVectorFixed<T,N>
 *  - mrpt::math::CMatrixF{*}
 */
template <typename Derived>
mxArray* convertToMatlab(const Eigen::EigenBase<Derived>& mat)
{
    const size_t m = mat.rows(), n = mat.cols();
    mxArray* mxa = mxCreateDoubleMatrix(m, n, mxREAL);
    double* mxa_data = mxGetPr(
        mxa);  // *IMPORTANT* Matlab stores matrices in *column-major* order!
    for (size_t j = 0; j < n; j++)  // column
        for (size_t i = 0; i < m; i++)  // rows
            *mxa_data++ = mat.derived().coeff(i, j);
    return mxa;
}

/** Convert std::vector<> or std::deque<> of numeric types into Matlab vectors
 */
template <typename CONTAINER>
mxArray* convertVectorToMatlab(const CONTAINER& vec)
{
    const size_t m = vec.size(), n = 1;
    mxArray* mxa = mxCreateDoubleMatrix(m, n, mxREAL);
    double* mxa_data = mxGetPr(
        mxa);  // *IMPORTANT* Matlab stores matrices in *column-major* order!
    for (size_t i = 0; i < m; i++)  // rows
        *mxa_data++ = vec[i];
    return mxa;
}

/** @} */
#endif
}  // namespace mrpt::math