Add utility functions to be moved to Simox

source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/simox_alg.hpp

+/*
+ * This file is part of ArmarX.
+ *
+ * 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/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::RobotStatePredictionClientExample
+ * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <map>
+#include <vector>
+
+namespace simox::alg
+{
+    template <class... Args>
+    std::vector<Args...>
+    concatenate(const std::vector<Args...>& lhs, const std::vector<Args...>& rhs)
+    {
+        std::vector<Args...> conc = lhs;
+        std::copy(rhs.begin(), rhs.end(), std::back_inserter(conc));
+        return conc;
+    }
+
+
+    template <class KeyT, class ValueT>
+    std::map<KeyT, ValueT>
+    map_from_key_value_pairs(const std::vector<KeyT>& lhs, const std::vector<ValueT>& rhs)
+    {
+        const size_t size = std::min(lhs.size(), rhs.size());
+
+        std::map<KeyT, ValueT> map;
+        for (size_t i = 0; i < size; ++i)
+        {
+            map.emplace(lhs[i], rhs[i]);
+        }
+        return map;
+    }
+
+
+    template <class KeyT, class ValueT>
+    std::vector<ValueT>
+    multi_at(const std::map<KeyT, ValueT>& map,
+             const std::vector<KeyT>& keys,
+             bool skipMissing = false)
+    {
+        std::vector<ValueT> values;
+        values.reserve(keys.size());
+
+        for (const KeyT& key : keys)
+        {
+            if (skipMissing)
+            {
+                if (auto it = map.find(key); it != map.end())
+                {
+                    values.push_back(it->second);
+                }
+            }
+            else
+            {
+                // Throw an exception if missing.
+                values.push_back(map.at(key));
+            }
+        }
+
+        return values;
+    }
+
+    template <class... Args>
+    std::vector<Args...>
+    slice(const std::vector<Args...>& vector,
+          size_t start = 0,
+          std::optional<size_t> end = std::nullopt)
+    {
+        std::vector<Args...> result;
+        auto beginIt = vector.begin() + start;
+        auto endIt = end ? vector.begin() + *end : vector.end();
+        std::copy(beginIt, endIt, std::back_inserter(result));
+        return result;
+    }
+
+} // namespace simox::alg