Revert "more vector conversion methods"

This reverts commit 22e7d7df.

source/RobotAPI/libraries/aron/converter/common/VectorConverter.h

@@ -37,93 +37,37 @@ namespace armarx::aron::converter
 {
     class AronVectorConverter
     {
-    private:
-        template<typename T>
-        static std::vector<T> convert_to_1d_vector(const unsigned char* data, const int elements, const int offset, const int size)
-        {
-            ARMARX_CHECK_NOT_NULL(data);
-
-            std::vector<T> v(elements);
-            memcpy(v.data(), data, size);
-
-            return v;
-        }
-
     public:
         AronVectorConverter() = delete;
 
         template<typename T>
-        static std::vector<std::vector<T>> ConvertTo2DVector(const data::NDArray& nav)
-        {
-            const auto& dims = nav.getShape();
-
-            if (dims.size() != 3)
-            {
-                throw error::AronException(__PRETTY_FUNCTION__, "The NDArray must have 3 dimensions.", nav.getPath());
-            }
-
-            if (dims.at(dims.size()-1) != sizeof(T))
-            {
-                throw error::AronException(__PRETTY_FUNCTION__, "Last dimension of the array has to match the element size.", nav.getPath());
-            }
-
-            const int one_row_size = dims.at(1) * dims.at(2);
-            std::vector<std::vector<T>> v(dims.at(0));
-            for (int i = 0; i < dims.at(0); i++)
-            {
-                v[i] = convert_to_1d_vector<T>(nav.getData(), dims.at(1), i * one_row_size, one_row_size);
-            }
-
-            return v;
-        }
-
-        template<typename T>
-        static std::vector<std::vector<T>> ConvertTo2DVector(const data::NDArrayPtr& nav)
+        static std::vector<T> ConvertToVector(const data::NDArrayPtr& nav)
         {
             ARMARX_CHECK_NOT_NULL(nav);
 
-            return ConvertTo2DVector<T>(*nav);
-        }
-
-        template<typename T>
-        static std::vector<T> ConvertTo1DVector(const data::NDArray& nav, const bool allowFlatten = false)
-        {
-            const auto& dims = nav.getShape();
+            const auto& dims = nav->getShape();
 
-            if (!allowFlatten && dims.size() != 2)
+            if (dims.size() != 2)
             {
-                throw error::AronException(__PRETTY_FUNCTION__, "The NDArray must have 2 dimensions.", nav.getPath());
+                throw error::AronException(__PRETTY_FUNCTION__, "The NDArray must have two dimensions.", nav->getPath());
             }
 
-            if (dims.at(dims.size()-1) != sizeof(T))
+            if (dims.at(1) != sizeof(T))
             {
-                throw error::AronException(__PRETTY_FUNCTION__, "Last dimension of the array has to match the element size.", nav.getPath());
+                throw error::AronException(__PRETTY_FUNCTION__, "Dimension 1 of the array has to match the element size.", nav->getPath());
             }
 
-            const int one_row_size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<>());
-            std::vector<T> v = convert_to_1d_vector<T>(nav.getData(), dims.at(0), 0, one_row_size);
-            return v;
-        }
+            const int size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<>());
 
-        template<typename T>
-        static std::vector<T> ConvertTo1DVector(const data::NDArrayPtr& nav, const bool allowFlatten = false)
-        {
-            ARMARX_CHECK_NOT_NULL(nav);
+            std::vector<T> v(dims.at(0));
+            memcpy(v.data(), nav->getData(), size);
 
-            return ConvertTo1DVector<T>(*nav, allowFlatten);
-        }
-
-        // alias
-        template<typename T>
-        static std::vector<T> ConvertToVector(const data::NDArrayPtr& nav, const bool allowFlatten = false)
-        {
-            return ConvertTo1DVector<T>(nav, allowFlatten);
+            return v;
         }
 
 
-        // Attention: If a vector was flattened, the reconstruction is flattened as well!
         template<typename T>
-        static data::NDArrayPtr ConvertFrom1DVector(const std::vector<T>& data)
+        static data::NDArrayPtr ConvertFromVector(const std::vector<T>& data)
         {
             data::NDArrayPtr ndArr(new data::NDArray);
 
@@ -133,13 +77,6 @@ namespace armarx::aron::converter
             return ndArr;
         }
 
-        // alias
-        template<typename T>
-        static data::NDArrayPtr ConvertFromVector(const std::vector<T>& data)
-        {
-            return ConvertFrom1DVector<T>(data);
-        }
-
     };
 
 }  // namespace armarx::aron::converter