From 1943e2070e07eee778052f1fad6c14e774e650c4 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 26 Apr 2021 08:30:33 +0200
Subject: [PATCH] aron: ndarraynavigator: + from(stl)vector
---
.../core/navigator/data/complex/NDArray.cpp | 3 +-
.../core/navigator/data/complex/NDArray.h | 29 +++++++++++++++++--
2 files changed, 29 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
index 0ed94c664..97942372a 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
@@ -239,4 +239,5 @@ case type::e##upperType: \
{
return 0;
}
-}
+
+} // namespace armarx::aron::datanavigator
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
index 60d836103..5e447b102 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.h
@@ -24,16 +24,22 @@
#pragma once
// STD/STL
+#include <cstddef>
+#include <functional>
#include <memory>
#include <map>
+#include <numeric>
+#include <vector>
// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
#include <RobotAPI/libraries/aron/core/navigator/data/Navigator.h>
namespace armarx::aron::datanavigator
{
class NDArrayNavigator;
- typedef std::shared_ptr<NDArrayNavigator> NDArrayNavigatorPtr;
+ using NDArrayNavigatorPtr = std::shared_ptr<NDArrayNavigator>;
class NDArrayNavigator :
virtual public Navigator
@@ -41,7 +47,6 @@ namespace armarx::aron::datanavigator
public:
using PointerType = NDArrayNavigatorPtr;
- public:
// constructors
NDArrayNavigator(const Path& path = Path());
NDArrayNavigator(const data::AronNDArrayPtr&, const Path& path = Path());
@@ -63,11 +68,31 @@ namespace armarx::aron::datanavigator
/// Return dimensions in a readable string such as "(2, 3, 4)".
static std::string DimensionsToString(const std::vector<int>& dimensions);
+ // TODO(fabian.reister): move this to VectorConverter?
+ template<typename T>
+ static NDArrayNavigatorPtr FromVector(const std::vector<T>& data)
+ {
+ NDArrayNavigatorPtr ndArr(new NDArrayNavigator);
+
+ ndArr->setDimensions({static_cast<int>(data.size()), sizeof(T)});
+ ndArr->setData(data);
+
+ return ndArr;
+ }
+
// public member functions
unsigned char* getData() const;
void setData(unsigned int, const unsigned char*);
+ // TODO(fabian.reister): move this to VectorConverter?
+ template<typename T>
+ void setData(const std::vector<T>& data)
+ {
+ using E = typename decltype(aron->data)::value_type;
+ setData(sizeof(T) * data.size(), reinterpret_cast < const E* >(data.data()));
+ }
+
std::vector<int> getDimensions() const;
void setDimensions(const std::vector<int>&);
void addDimension(int);
--
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