added new aliases for vectors and matrices in aron

source/RobotAPI/libraries/aron/codegeneration/typereader/xml/Data.h

@@ -24,12 +24,13 @@
 #pragma once
 
 // STD/STL
-#include <memory>
 #include <map>
+#include <memory>
 #include <optional>
 
 // ArmarX
 #include <SimoxUtility/xml.h>
+
 #include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
 
 /**
@@ -116,36 +117,80 @@ namespace armarx::aron::typereader::xml
         };
 
         // Replacements ({tagName, {replacementsTag, additionalAronDTOXMLIncludePackagePath}, deprecationwarning})
-        const std::map<std::string, Replacement> REPLACEMENTS =
-        {
-            {"int",         {"<int32 />", {}, "The <int />-tag is deprecated. Please use <int32 /> instead."}},
-            {"long",        {"<int64 />", {}, "The <long />-tag is deprecated. Please use <int64 /> instead."}},
-            {"float",       {"<float32 />", {}, "The <float />-tag is deprecated. Please use <float32 /> instead."}},
-            {"double",      {"<float64 />", {}, "The <double />-tag is deprecated. Please use <float64 /> instead."}},
-            {"position",    {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
-            {"pose",        {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
-            {"orientation", {"<quaternion type='float32' />",               {}, ""}},
+        const std::map<std::string, Replacement> REPLACEMENTS = {
+            {"int",
+             {"<int32 />", {}, "The <int />-tag is deprecated. Please use <int32 /> instead."}},
+            {"long",
+             {"<int64 />", {}, "The <long />-tag is deprecated. Please use <int64 /> instead."}},
+            {"float",
+             {"<float32 />",
+              {},
+              "The <float />-tag is deprecated. Please use <float32 /> instead."}},
+            {"double",
+             {"<float64 />",
+              {},
+              "The <double />-tag is deprecated. Please use <float64 /> instead."}},
+
+            // should that be deprecated?
+            {"position", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
+            {"pose", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
+            {"orientation", {"<quaternion type='float32' />", {}, ""}},
+
+            // values similar to eigen
+            {"quaternionf", {"<quaternion type='float32' />", {}, ""}},
+            {"quaterniond", {"<quaternion type='float64' />", {}, ""}},
+            {"vector2f", {"<matrix rows='2' cols='1' type='float32' />", {}, ""}},
+            {"vector2d", {"<matrix rows='2' cols='1' type='float64' />", {}, ""}},
+            {"vector3f", {"<matrix rows='3' cols='1' type='float32' />", {}, ""}},
+            {"vector3d", {"<matrix rows='3' cols='1' type='float64' />", {}, ""}},
+            {"vector4f", {"<matrix rows='4' cols='1' type='float32' />", {}, ""}},
+            {"vector4d", {"<matrix rows='4' cols='1' type='float64' />", {}, ""}},
+            {"matrix2f", {"<matrix rows='2' cols='2' type='float32' />", {}, ""}},
+            {"matrix2d", {"<matrix rows='2' cols='2' type='float64' />", {}, ""}},
+            {"matrix3f", {"<matrix rows='3' cols='3' type='float32' />", {}, ""}},
+            {"matrix3d", {"<matrix rows='3' cols='3' type='float64' />", {}, ""}},
+            {"matrix4f", {"<matrix rows='4' cols='4' type='float32' />", {}, ""}},
+            {"matrix4d", {"<matrix rows='4' cols='4' type='float64' />", {}, ""}},
 
             // You can also add replacements for arondtos here!
             // structure: {xml-identifier, {replacement, auto-include}, deprecationwarning}
-            {"datetime",            {"<armarx::arondto::DateTime />",             {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
-            {"time",                {"<armarx::arondto::DateTime />",             {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
-            {"duration",            {"<armarx::arondto::Duration />",             {"RobotAPI", "libraries/aron/common/aron/time.xml"}, ""}},
-            {"framedposition",      {"<armarx::arondto::FramedPosition />",       {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}},
-            {"framedorientation",   {"<armarx::arondto::FramedOrientation />",    {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}},
-            {"framedpose",          {"<armarx::arondto::FramedPose />",           {"RobotAPI", "libraries/aron/common/aron/framed.xml"}, ""}}
-        };
-    }
-
+            {"datetime",
+             {"<armarx::arondto::DateTime />",
+              {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+              ""}},
+            {"time",
+             {"<armarx::arondto::DateTime />",
+              {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+              ""}},
+            {"duration",
+             {"<armarx::arondto::Duration />",
+              {"RobotAPI", "libraries/aron/common/aron/time.xml"},
+              ""}},
+            {"framedposition",
+             {"<armarx::arondto::FramedPosition />",
+              {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+              ""}},
+            {"framedorientation",
+             {"<armarx::arondto::FramedOrientation />",
+              {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+              ""}},
+            {"framedpose",
+             {"<armarx::arondto::FramedPose />",
+              {"RobotAPI", "libraries/aron/common/aron/framed.xml"},
+              ""}}};
+    } // namespace constantes
 
     namespace util
     {
-        std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node, const std::string& name);
+        std::optional<RapidXmlReaderNode> GetFirstNodeWithTag(const RapidXmlReaderNode& node,
+                                                              const std::string& name);
 
         void EnforceAttribute(const RapidXmlReaderNode& node, const std::string& att);
         bool HasAttribute(const RapidXmlReaderNode& node, const std::string& att);
         std::string GetAttribute(const RapidXmlReaderNode& node, const std::string& att);
-        std::string GetAttributeWithDefault(const RapidXmlReaderNode& node, const std::string& att, const std::string& def);
+        std::string GetAttributeWithDefault(const RapidXmlReaderNode& node,
+                                            const std::string& att,
+                                            const std::string& def);
         bool AttributeIsTrue(const RapidXmlReaderNode& node, const std::string& att);
 
         bool HasTagName(const RapidXmlReaderNode& node, const std::string& name);
@@ -158,5 +203,5 @@ namespace armarx::aron::typereader::xml
         void EnforceChildSize(const RapidXmlReaderNode& node, const size_t size);
         void EnforceChildSizeGreaterEqual(const RapidXmlReaderNode& node, const size_t size);
         void EnforceChildSizeGreater(const RapidXmlReaderNode& node, const size_t size);
-    }
-}
+    } // namespace util
+} // namespace armarx::aron::typereader::xml