added eigenhelpers

source/RobotAPI/libraries/core/EigenHelpers.h

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Simon Ottenhaus (simon dot ottenhaus at kit dot edu)
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <eigen3/Eigen/Core>
+
+namespace armarx
+{
+
+    template<class ScalarType>
+    inline Eigen::Matrix<ScalarType, Eigen::Dynamic, 1> MakeVectorX(std::initializer_list<ScalarType> ilist)
+    {
+        Eigen::Matrix<ScalarType, Eigen::Dynamic, 1> r(ilist.size());
+        std::size_t i = 0;
+        for (const auto e : ilist)
+        {
+            r(i++) = e;
+        }
+        return r;
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(std::initializer_list<float> ilist)
+    {
+        return MakeVectorX<float>(ilist);
+    }
+
+    template<class ScalarType, class...Ts>
+    inline Eigen::Matrix<ScalarType, Eigen::Dynamic, 1> MakeVectorXWarnNarrowing(Ts&& ...ts)
+    {
+        return MakeVectorX<ScalarType>(std::initializer_list<ScalarType> {std::forward<Ts>(ts)...});
+    }
+    template<class ScalarType, class...Ts>
+    inline Eigen::Matrix<ScalarType, Eigen::Dynamic, 1> MakeVectorXIgnoreNarrowing(Ts&& ...ts)
+    {
+        return MakeVectorX<ScalarType>(std::initializer_list<ScalarType> {static_cast<ScalarType>(std::forward<Ts>(ts))...});
+    }
+    template<class ScalarType, class...Ts>
+    inline Eigen::Matrix<ScalarType, Eigen::Dynamic, 1> MakeVectorX(Ts&& ...ts)
+    {
+        return MakeVectorX<ScalarType>(std::initializer_list<ScalarType> {static_cast<ScalarType>(std::forward<Ts>(ts))...});
+    }
+
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(std::vector<float> vec)
+    {
+        Eigen::Matrix<float, Eigen::Dynamic, 1> r(vec.size());
+        std::size_t i = 0;
+        for (const auto e : vec)
+        {
+            r(i++) = e;
+        }
+        return r;
+    }
+
+    /* Qt-Creator does not support variable amount of parameters. The following methods are only for Qt-Creator. */
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1)
+    {
+        return MakeVectorX<float>(f1);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2)
+    {
+        return MakeVectorX<float>(f1, f2);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2, float f3)
+    {
+        return MakeVectorX<float>(f1, f2, f3);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2, float f3, float f4)
+    {
+        return MakeVectorX<float>(f1, f2, f3, f4);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2, float f3, float f4, float f5)
+    {
+        return MakeVectorX<float>(f1, f2, f3, f4, f5);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2, float f3, float f4, float f5, float f6)
+    {
+        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2, float f3, float f4, float f5, float f6, float f7)
+    {
+        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6, f7);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2, float f3, float f4, float f5, float f6, float f7, float f8)
+    {
+        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6, f7, f8);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2, float f3, float f4, float f5, float f6, float f7, float f8, float f9)
+    {
+        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6, f7, f8, f9);
+    }
+    inline Eigen::Matrix<float, Eigen::Dynamic, 1> MakeVectorXf(float f1, float f2, float f3, float f4, float f5, float f6, float f7, float f8, float f9, float f10)
+    {
+        return MakeVectorX<float>(f1, f2, f3, f4, f5, f6, f7, f8, f9, f10);
+    }
+
+
+}