From e814c01c108b30b6cba330dafc4bd731fa282186 Mon Sep 17 00:00:00 2001
From: = <tilman.daab@kit.edu>
Date: Wed, 18 Jan 2023 17:33:12 +0100
Subject: [PATCH] resolve resolution problems of templates
---
SimoxUtility/json/eigen_conversion.cpp | 6 +--
SimoxUtility/json/eigen_conversion.h | 70 +++++++++++++++++++++++---
2 files changed, 66 insertions(+), 10 deletions(-)
diff --git a/SimoxUtility/json/eigen_conversion.cpp b/SimoxUtility/json/eigen_conversion.cpp
index ed158b365..8018e507f 100644
--- a/SimoxUtility/json/eigen_conversion.cpp
+++ b/SimoxUtility/json/eigen_conversion.cpp
@@ -7,8 +7,7 @@
namespace Eigen
{
- template <>
- void from_json<Eigen::Vector3f>(const ::simox::json::json& j, Eigen::MatrixBase<Eigen::Vector3f>& vector)
+ void from_json(const ::simox::json::json& j, Eigen::Vector3f& vector)
{
if (j.is_object())
{
@@ -23,8 +22,7 @@ namespace Eigen
}
- template <>
- void from_json<Eigen::Matrix4f>(const ::simox::json::json& j, Eigen::MatrixBase<Eigen::Matrix4f>& matrix)
+ void from_json(const ::simox::json::json& j, Eigen::Matrix4f& matrix)
{
if (j.is_object())
{
diff --git a/SimoxUtility/json/eigen_conversion.h b/SimoxUtility/json/eigen_conversion.h
index d0a816297..1989a72b8 100644
--- a/SimoxUtility/json/eigen_conversion.h
+++ b/SimoxUtility/json/eigen_conversion.h
@@ -27,19 +27,23 @@ namespace Eigen
// Eigen::MatrixBase (non-specialized).
/// Writes the matrix as list of rows.
+ template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+ void to_json(simox::json::json& j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& matrix);
+
template <typename Derived>
void to_json(simox::json::json& j, const Eigen::MatrixBase<Derived>& matrix);
/// Reads the matrix from list of rows.
+ template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+ void from_json(const simox::json::json& j, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& matrix);
+
template <typename Derived>
void from_json(const simox::json::json& j, Eigen::MatrixBase<Derived>& matrix);
-
// Specialization for Eigen::Vector3f (implemented in .cpp)
/// If `j` is an object, reads vector from `x, y, z` keys. Otherwise, reads it as matrix.
- template <>
- void from_json<Eigen::Vector3f>(const simox::json::json& j, Eigen::MatrixBase<Eigen::Vector3f>& vector);
+ void from_json(const simox::json::json& j, Eigen::Vector3f& vector);
// Specialization for Eigen::Matrix4f as transformation matrix (implemented in .cpp).
@@ -50,8 +54,7 @@ namespace Eigen
* If `j` is an object, reads `matrix` as transformation matrix from `pos` and `ori` keys.
* Otherweise, reads it from list of rows.
*/
- template <>
- void from_json<Eigen::Matrix4f>(const simox::json::json& j, Eigen::MatrixBase<Eigen::Matrix4f>& matrix);
+ void from_json(const simox::json::json& j, Eigen::Matrix4f& matrix);
// Eigen::Quaternion
@@ -88,6 +91,27 @@ namespace jsonbase
// by specializations in the .cpp)
/// Writes the matrix as list of rows.
+ template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+ void to_json(simox::json::json& j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& matrix)
+ {
+ for (int row = 0; row < matrix.rows(); ++row)
+ {
+ if (matrix.cols() > 1)
+ {
+ simox::json::json jrow = simox::json::json::array();
+ for (int col = 0; col < matrix.cols(); ++col)
+ {
+ jrow.push_back(matrix(row, col));
+ }
+ j.push_back(jrow);
+ }
+ else
+ {
+ j.push_back(matrix(row, 0));
+ }
+ }
+ }
+
template <typename Derived>
void to_json(simox::json::json& j, const Eigen::MatrixBase<Derived>& matrix)
{
@@ -109,7 +133,31 @@ namespace jsonbase
}
}
+
/// Reads the matrix from list of rows.
+ template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+ void from_json(const simox::json::json& j, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& matrix)
+ {
+ using Index = typename Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Index;
+
+ for (std::size_t row = 0; row < j.size(); ++row)
+ {
+ const auto& jrow = j.at(row);
+ if (jrow.is_array())
+ {
+ for (std::size_t col = 0; col < jrow.size(); ++col)
+ {
+ const auto& value = jrow.at(col);
+ matrix(static_cast<Index>(row), static_cast<Index>(col)) = value.get<_Scalar>();
+ }
+ }
+ else
+ {
+ matrix(static_cast<Index>(row), 0) = jrow.get<_Scalar>();
+ }
+ }
+ }
+
template <typename Derived>
void from_json(const simox::json::json& j, Eigen::MatrixBase<Derived>& matrix)
{
@@ -135,6 +183,11 @@ namespace jsonbase
}
}
+ template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+ void to_json(simox::json::json& j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& matrix)
+ {
+ jsonbase::to_json(j, matrix);
+ }
template <typename Derived>
void to_json(simox::json::json& j, const Eigen::MatrixBase<Derived>& matrix)
@@ -142,13 +195,18 @@ namespace jsonbase
jsonbase::to_json(j, matrix);
}
+ template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+ void from_json(const simox::json::json& j, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& matrix)
+ {
+ jsonbase::from_json(j, matrix);
+ }
+
template <typename Derived>
void from_json(const simox::json::json& j, Eigen::MatrixBase<Derived>& matrix)
{
jsonbase::from_json(j, matrix);
}
-
template <typename Derived>
void to_json(simox::json::json& j, const Eigen::QuaternionBase<Derived>& quat)
{
--
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