CMatrixD.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "math-precomp.h"  // Precompiled headers

#include <mrpt/math/CMatrixD.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/CSchemeArchiveBase.h>

using namespace mrpt;
using namespace mrpt::math;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CMatrixD, CSerializable, mrpt::math)

uint8_t CMatrixD::serializeGetVersion() const { return 0; }
void CMatrixD::serializeTo(mrpt::serialization::CArchive& out) const
{
    // First, write the number of rows and columns:
    out.WriteAs<uint32_t>(rows()).WriteAs<uint32_t>(cols());

    // Since mrpt-1.9.9, dynamic matrices are stored as a contiguous vector:
    if (rows() > 0 && cols() > 0)
        out.WriteBufferFixEndianness<value_type>(
            &(*this)(0, 0), cols() * rows());
}
void CMatrixD::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            // First, read the number of rows and columns:
            const uint32_t nRows = in.ReadAs<uint32_t>();
            const uint32_t nCols = in.ReadAs<uint32_t>();

            setSize(nRows, nCols);

            if (nRows > 0 && nCols > 0)
                in.ReadBufferFixEndianness<value_type>(
                    &(*this)(0, 0), nRows * nCols);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

/** Serialize CSerializable Object to CSchemeArchiveBase derived object*/
void CMatrixD::serializeTo(mrpt::serialization::CSchemeArchiveBase& out) const
{
    SCHEMA_SERIALIZE_DATATYPE_VERSION(1);
    out["nrows"] = static_cast<uint32_t>(this->rows());
    out["ncols"] = static_cast<uint32_t>(this->cols());
    out["data"] = this->inMatlabFormat();
}
/** Serialize CSchemeArchiveBase derived object to CSerializable Object*/
void CMatrixD::serializeFrom(mrpt::serialization::CSchemeArchiveBase& in)
{
    uint8_t version;
    SCHEMA_DESERIALIZE_DATATYPE_VERSION();
    switch (version)
    {
        case 1:
        {
            this->fromMatlabStringFormat(static_cast<std::string>(in["data"]));
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    }
}