CMatrix.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/math/CMatrix.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::utils;

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

/** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T
 * \f$ */
CMatrix::CMatrix(const TPose2D& p) : CMatrixFloat(p) {}
/** Constructor from a mrpt::poses::CPose6D, which generates a 6x1 matrix \f$ [x
 * y z yaw pitch roll]^T \f$  */
CMatrix::CMatrix(const TPose3D& p) : CMatrixFloat(p) {}
/** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$ */
CMatrix::CMatrix(const TPoint2D& p) : CMatrixFloat(p) {}
/** Constructor from a TPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$
 */
CMatrix::CMatrix(const TPoint3D& p) : CMatrixFloat(p) {}
/*---------------------------------------------------------------
                                                writeToStream
 ---------------------------------------------------------------*/
void CMatrix::writeToStream(mrpt::utils::CStream& out, int* out_Version) const
{
        if (out_Version)
                *out_Version = 0;
        else
        {
                // First, write the number of rows and columns:
                out << (uint32_t)rows() << (uint32_t)cols();

                if (rows() > 0 && cols() > 0)
                        for (Index i = 0; i < rows(); i++)
                                out.WriteBufferFixEndianness<Scalar>(&coeff(i, 0), cols());
        }
}

/*---------------------------------------------------------------
                                                readFromStream
 ---------------------------------------------------------------*/
void CMatrix::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                {
                        uint32_t nRows, nCols;

                        // First, write the number of rows and columns:
                        in >> nRows >> nCols;

                        setSize(nRows, nCols);

                        if (nRows > 0 && nCols > 0)
                                for (Index i = 0; i < rows(); i++)
                                        in.ReadBufferFixEndianness<Scalar>(&coeffRef(i, 0), nCols);
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}