matrix_serialization.h

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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 |
   +------------------------------------------------------------------------+ */
#pragma once

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

#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <mrpt/math/CMatrixFixedNumeric.h>

/** \file matrix_serialization.h
  * This file implements matrix/vector text and binary serialization */
namespace mrpt
{
namespace math
{
/** \addtogroup container_ops_grp
  *  @{ */

/** @name Operators for binary streaming of MRPT matrices
        @{ */

/** Read operator from a CStream. The format is compatible with that of CMatrix
 * & CMatrixD */
template <size_t NROWS, size_t NCOLS>
mrpt::utils::CStream& operator>>(
        mrpt::utils::CStream& in, CMatrixFixedNumeric<float, NROWS, NCOLS>& M)
{
        CMatrix aux;
        in.ReadObject(&aux);
        ASSERTMSG_(
                M.cols() == aux.cols() && M.rows() == aux.rows(),
                format(
                        "Size mismatch: deserialized is %ux%u, expected is %ux%u",
                        (unsigned)aux.getRowCount(), (unsigned)aux.getColCount(),
                        (unsigned)NROWS, (unsigned)NCOLS))
        M = aux;
        return in;
}
/** Read operator from a CStream. The format is compatible with that of CMatrix
 * & CMatrixD */
template <size_t NROWS, size_t NCOLS>
mrpt::utils::CStream& operator>>(
        mrpt::utils::CStream& in, CMatrixFixedNumeric<double, NROWS, NCOLS>& M)
{
        CMatrixD aux;
        in.ReadObject(&aux);
        ASSERTMSG_(
                M.cols() == aux.cols() && M.rows() == aux.rows(),
                format(
                        "Size mismatch: deserialized is %ux%u, expected is %ux%u",
                        (unsigned)aux.getRowCount(), (unsigned)aux.getColCount(),
                        (unsigned)NROWS, (unsigned)NCOLS))
        M = aux;
        return in;
}

/** Write operator for writing into a CStream. The format is compatible with
 * that of CMatrix & CMatrixD */
template <size_t NROWS, size_t NCOLS>
mrpt::utils::CStream& operator<<(
        mrpt::utils::CStream& out,
        const CMatrixFixedNumeric<float, NROWS, NCOLS>& M)
{
        CMatrix aux = CMatrixFloat(M);
        out.WriteObject(&aux);
        return out;
}
/** Write operator for writing into a CStream. The format is compatible with
 * that of CMatrix & CMatrixD */
template <size_t NROWS, size_t NCOLS>
mrpt::utils::CStream& operator<<(
        mrpt::utils::CStream& out,
        const CMatrixFixedNumeric<double, NROWS, NCOLS>& M)
{
        CMatrixD aux = CMatrixDouble(M);
        out.WriteObject(&aux);
        return out;
}

/** @} */  // end MRPT matrices stream operators

/** @name Operators for text streaming of MRPT matrices
        @{ */

/** Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default
 * output. */
template <typename T, size_t NROWS, size_t NCOLS>
inline std::ostream& operator<<(
        std::ostream& s, const CMatrixFixedNumeric<T, NROWS, NCOLS>& m)
{
        Eigen::IOFormat fmt;
        fmt.matSuffix = "\n";
        return s << m.format(fmt);
}

/** Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default
 * output. */
template <typename T>
inline std::ostream& operator<<(
        std::ostream& s, const CMatrixTemplateNumeric<T>& m)
{
        Eigen::IOFormat fmt;
        fmt.matSuffix = "\n";
        return s << m.format(fmt);
}

/** @} */  // end MRPT matrices stream operators

/**  @} */  // end of grouping
}  // End of math namespace
}  // End of mrpt namespace