From 60dfb7128f0d24f5cd4a78d0616b0d995d57ff9b Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Thu, 4 May 2023 17:11:41 +0200
Subject: [PATCH] remove check for correct type in matrix TODO
---
.../cpp/generator/ndarray/Matrix.cpp | 116 +++++++++++-------
1 file changed, 75 insertions(+), 41 deletions(-)
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 d0bf18091..ce9389d13 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
@@ -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
--
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