From 147feea35d9a40c45428ffb6e07046acc9f7b213 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Wed, 19 Apr 2023 08:35:18 +0200
Subject: [PATCH] fix bug if pc is shared-ptr
---
.../codewriter/cpp/generator/ndarray/Matrix.cpp | 1 +
.../codewriter/cpp/generator/ndarray/PointCloud.cpp | 6 +++++-
2 files changed, 6 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
index 569d5be67..d0bf18091 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp
@@ -31,6 +31,7 @@ namespace armarx::aron::codegenerator::cpp::generator
{
const std::map<type::matrix::ElementType, std::tuple<std::string, int, std::string>> ElementType2Cpp =
{
+ // TODO: rename to float32 etc. but keep backward compability
{type::matrix::INT16, {"short", 2, "::armarx::aron::type::matrix::INT16"}},
{type::matrix::INT32, {"int", 4, "::armarx::aron::type::matrix::INT32"}},
{type::matrix::INT64, {"long", 8, "::armarx::aron::type::matrix::INT64"}},
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
index 78e42fe08..66bfab7ae 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
@@ -102,7 +102,11 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine("std::vector<int> " + dims + ";");
block_if_data->addLine("std::vector<unsigned char> " + data + ";");
block_if_data->addLine("" + ARON_READER_ACCESSOR + ".readNDArray("+variantAccessor+", "+dims+", "+type+", "+data+"); // of " + cppAccessor);
- block_if_data->addLine(cppAccessor + " = " + getInstantiatedCppTypename() + "(" + dims + "[0], " + dims + "[1]);");
+
+ block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + dims + ".size() == 3, ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong dimensions for member '"+cppAccessor+"'.\"));");
+ block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + type + " == \"" + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "\", ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong type for member '"+cppAccessor+"'.\"));");
+
+ block_if_data->addLine(cppAccessor + nextEl() + "assign(" + dims + "[0], " + dims + "[1], " + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "());");
block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "points.data()), "+data+".data(), "+data+".size());");
return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
}
--
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