utils_matlab.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef  mrpt_math_utils_matlab_H
#define  mrpt_math_utils_matlab_H

/** \file Provide helper functions for MEX/MATLAB. 
  * This file can be safely included without checking MRPT_HAS_MATLAB
  */

#include <mrpt/config.h>
#if MRPT_HAS_MATLAB
#       include <mexplus.h>
#endif
#include <mrpt/math/math_frwds.h>

namespace mrpt
{
        namespace math
        {
#if MRPT_HAS_MATLAB
                /** \addtogroup matlab_grp Helper functions for MEX & MATLAB 
                  *  \ingroup mrpt_base_grp
                  * @{ */

                /** Convert vectors, arrays and matrices into Matlab vectors/matrices. 
                  * Supported input classes:
                  *  - Eigen::Matrix<T,N,1>
                  *  - mrpt::math::CArrayNumeric<T,N>
                  *  - mrpt::math::CMatrix{*}
                  */
                template <typename Derived>
                mxArray* convertToMatlab(const Eigen::EigenBase<Derived>& mat)
                {
                        const size_t m = mat.rows(), n = mat.cols();
                        mxArray * mxa = mxCreateDoubleMatrix(m,n,mxREAL);
                        double *mxa_data = mxGetPr(mxa);  // *IMPORTANT* Matlab stores matrices in *column-major* order!
                        for (size_t j=0;j<n;j++) // column
                                for     (size_t i=0;i<m;i++)  // rows
                                        *mxa_data++  = mat.derived().coeff(i,j);
                        return mxa;
                }

                /** Convert std::vector<> or std::deque<> of numeric types into Matlab vectors */
                template <typename CONTAINER>
                mxArray* convertVectorToMatlab(const CONTAINER& vec)
                {
                        const size_t m = vec.size(), n = 1;
                        mxArray * mxa = mxCreateDoubleMatrix(m,n,mxREAL);
                        double *mxa_data = mxGetPr(mxa);  // *IMPORTANT* Matlab stores matrices in *column-major* order!
                        for     (size_t i=0;i<m;i++)  // rows
                                *mxa_data++  = vec[i];
                        return mxa;
                }

                /** @} */
#endif
        }
}

#endif