remove check for correct type in matrix TODO

source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/Matrix.cpp

@@ -26,72 +26,89 @@
 
 #include <SimoxUtility/meta/type_name.h>
 
-
 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"}},
-        {type::matrix::FLOAT32, {"float", 4, "::armarx::aron::type::matrix::FLOAT32"}},
-        {type::matrix::FLOAT64, {"double", 8, "::armarx::aron::type::matrix::FLOAT64"}}
-    };
+    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"}},
+            {type::matrix::FLOAT32, {"float", 4, "::armarx::aron::type::matrix::FLOAT32"}},
+            {type::matrix::FLOAT64, {"double", 8, "::armarx::aron::type::matrix::FLOAT64"}}};
 
     // constructors
     Matrix::Matrix(const type::Matrix& n) :
         detail::NDArrayGenerator<type::Matrix, Matrix>(
-            "Eigen::Matrix<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ", " + (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " + (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
-            "Eigen::Matrix<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ", " + (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " + (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
+            "Eigen::Matrix<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ", " +
+                (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " +
+                (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
+            "Eigen::Matrix<" + std::get<0>(ElementType2Cpp.at(n.getElementType())) + ", " +
+                (n.getRows() == -1 ? "Eigen::Dynamic" : std::to_string(n.getRows())) + ", " +
+                (n.getCols() == -1 ? "Eigen::Dynamic" : std::to_string(n.getCols())) + ">",
             simox::meta::get_type_name<data::dto::NDArray>(),
-            simox::meta::get_type_name<type::dto::Matrix>(), n)
+            simox::meta::get_type_name<type::dto::Matrix>(),
+            n)
     {
     }
 
-    std::vector<std::string> Matrix::getRequiredIncludes() const
+    std::vector<std::string>
+    Matrix::getRequiredIncludes() const
     {
         return {"<Eigen/Core>"};
     }
 
-    CppBlockPtr Matrix::getResetSoftBlock(const std::string& cppAccessor) const
+    CppBlockPtr
+    Matrix::getResetSoftBlock(const std::string& cppAccessor) const
     {
         CppBlockPtr block_if_data = std::make_shared<CppBlock>();
         block_if_data->addLine(cppAccessor + nextEl() + "setZero();");
         return this->resolveMaybeResetSoftBlock(block_if_data, cppAccessor);
     }
 
-    CppBlockPtr Matrix::getWriteTypeBlock(const std::string& typeAccessor, const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
+    CppBlockPtr
+    Matrix::getWriteTypeBlock(const std::string& typeAccessor,
+                              const std::string& cppAccessor,
+                              const Path& p,
+                              std::string& variantAccessor) const
     {
         CppBlockPtr b = std::make_shared<CppBlock>();
         std::string escaped_accessor = EscapeAccessor(cppAccessor);
         variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
-        b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeMatrix((int) " + std::to_string(type.getRows()) + ", " +
-                "(int) " + std::to_string(type.getCols()) + ", " +
-                std::get<2>(ElementType2Cpp.at(type.getElementType())) + ", " +
-                conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
-                "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + cppAccessor);
+        b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR +
+                   ".writeMatrix((int) " + std::to_string(type.getRows()) + ", " + "(int) " +
+                   std::to_string(type.getCols()) + ", " +
+                   std::get<2>(ElementType2Cpp.at(type.getElementType())) + ", " +
+                   conversion::Maybe2CppString.at(type.getMaybe()) + ", " + "armarx::aron::Path(" +
+                   ARON_PATH_ACCESSOR + ", {" + simox::alg::join(p.getPath(), ", ") +
+                   "})); // of " + cppAccessor);
 
         return b;
     }
 
-    CppBlockPtr Matrix::getWriteBlock(const std::string& cppAccessor, const Path& p, std::string& variantAccessor) const
+    CppBlockPtr
+    Matrix::getWriteBlock(const std::string& cppAccessor,
+                          const Path& p,
+                          std::string& variantAccessor) const
     {
         CppBlockPtr block_if_data = std::make_shared<CppBlock>();
         std::string escaped_accessor = EscapeAccessor(cppAccessor);
         variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
 
-        block_if_data->addLine(variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({(int) " + cppAccessor + nextEl() + "rows(), "+
-                "(int) " + cppAccessor + nextEl() + "cols(), " +
-                std::to_string(std::get<1>(ElementType2Cpp.at(type.getElementType()))) + "}, "+
-                "\"" + std::get<0>(ElementType2Cpp.at(type.getElementType())) + "\", "+
-                "reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "data()), " +
-                "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {" + simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
+        block_if_data->addLine(
+            variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeNDArray({(int) " + cppAccessor +
+            nextEl() + "rows(), " + "(int) " + cppAccessor + nextEl() + "cols(), " +
+            std::to_string(std::get<1>(ElementType2Cpp.at(type.getElementType()))) + "}, " + "\"" +
+            std::get<0>(ElementType2Cpp.at(type.getElementType())) + "\", " +
+            "reinterpret_cast<const unsigned char*>(" + cppAccessor + nextEl() + "data()), " +
+            "armarx::aron::Path(" + ARON_PATH_ACCESSOR + ", {" +
+            simox::alg::join(p.getPath(), ", ") + "})); // of " + cppAccessor);
 
         return resolveMaybeWriteBlock(block_if_data, cppAccessor);
     }
 
-    CppBlockPtr Matrix::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
+    CppBlockPtr
+    Matrix::getReadBlock(const std::string& cppAccessor, const std::string& variantAccessor) const
     {
         CppBlockPtr block_if_data = std::make_shared<CppBlock>();
         std::string escaped_accessor = EscapeAccessor(cppAccessor);
@@ -103,35 +120,52 @@ 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("" + ARON_READER_ACCESSOR + ".readNDArray(" + variantAccessor +
+                               ", " + dims + ", " + type + ", " + data + "); // of " + cppAccessor);
 
-        if((this->type.getRows() == -1 or this->type.getRows() == Eigen::Dynamic) and this->type.getCols() != -1)
+        if ((this->type.getRows() == -1 or this->type.getRows() == Eigen::Dynamic) and
+            this->type.getCols() != -1)
         {
             block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(0));");
         }
 
-        if(this->type.getRows() != -1 and (this->type.getCols() == -1 or this->type.getCols() == Eigen::Dynamic))
+        if (this->type.getRows() != -1 and
+            (this->type.getCols() == -1 or this->type.getCols() == Eigen::Dynamic))
         {
             block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(1));");
         }
 
-        if((this->type.getRows() == -1 or this->type.getRows() == Eigen::Dynamic) and (this->type.getCols() == -1 or this->type.getCols() == Eigen::Dynamic))
+        if ((this->type.getRows() == -1 or this->type.getRows() == Eigen::Dynamic) and
+            (this->type.getCols() == -1 or this->type.getCols() == Eigen::Dynamic))
         {
-            block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(0), " + dims + ".at(1));");
+            block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + ".at(0), " + dims +
+                                   ".at(1));");
         }
 
-        block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + cppAccessor + nextEl() + "rows() == " + dims + ".at(0) and " + cppAccessor + nextEl() + "cols() == " + dims + ".at(1), ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong dimensions for member '"+cppAccessor+"'.\"));");
-        block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + type + " == \"" + std::get<0>(ElementType2Cpp.at(this->type.getElementType())) + "\", ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong type for member '"+cppAccessor+"'.\"));");
-
-        block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "data()), "+data+".data(), "+data+".size());");
+        block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + cppAccessor + nextEl() + "rows() == " +
+                               dims + ".at(0) and " + cppAccessor + nextEl() + "cols() == " + dims +
+                               ".at(1), ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, "
+                               "\"Received wrong dimensions for member '" +
+                               cppAccessor + "'.\"));");
+        block_if_data->addLine("//ARMARX_CHECK_AND_THROW(" + type + " == \"" +
+                               std::get<0>(ElementType2Cpp.at(this->type.getElementType())) +
+                               "\", ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, "
+                               "\"Received wrong type for member '" +
+                               cppAccessor + "'.\"));");
+
+        block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor +
+                               nextEl() + "data()), " + data + ".data(), " + data + ".size());");
         return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
     }
 
-    CppBlockPtr Matrix::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+    CppBlockPtr
+    Matrix::getEqualsBlock(const std::string& accessor,
+                           const std::string& otherInstanceAccessor) const
     {
         CppBlockPtr block_if_data = std::make_shared<CppBlock>();
-        block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + resolveMaybeAccessor(otherInstanceAccessor) + ")))");
+        block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" +
+                               resolveMaybeAccessor(otherInstanceAccessor) + ")))");
         block_if_data->addLineAsBlock("return false;");
         return resolveMaybeEqualsBlock(block_if_data, accessor, otherInstanceAccessor);
     }
-}
+} // namespace armarx::aron::codegenerator::cpp::generator