CMatrixD.cpp

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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    |
   +---------------------------------------------------------------------------+ */

#include "base-precomp.h"  // Precompiled headers

#include <mrpt/math/CMatrixD.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::utils;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CMatrixD, CSerializable, mrpt::math)

/** Constructor from a TPose2D, which generates a 3x1 matrix \f$ [x y \phi]^T \f$  */
CMatrixD::CMatrixD( const TPose2D &p) : CMatrixDouble(p) {}
/** Constructor from a TPose3D, which generates a 6x1 matrix \f$ [x y z yaw pitch roll]^T \f$  */
CMatrixD::CMatrixD( const TPose3D &p) : CMatrixDouble(p) {}
/** Constructor from a TPoint2D, which generates a 2x1 matrix \f$ [x y]^T \f$ */
CMatrixD::CMatrixD( const TPoint2D &p) : CMatrixDouble(p) {}
/** Constructor from a TPoint3D, which generates a 3x1 matrix \f$ [x y z]^T \f$ */
CMatrixD::CMatrixD( const TPoint3D &p) : CMatrixDouble(p) {}


/*---------------------------------------------------------------
                                                writeToStream
 ---------------------------------------------------------------*/
void  CMatrixD::writeToStream(mrpt::utils::CStream &out, int *out_Version) const
{
        if (out_Version)
                *out_Version = 0;
        else
        {
                // First, write the number of rows and columns:
                out << (uint32_t)rows() << (uint32_t)cols();

                if (rows()>0 && cols()>0)
                        for (Index i=0;i<rows();i++)
                                out.WriteBufferFixEndianness<Scalar>(&coeff(i,0),cols());
        }

}

/*---------------------------------------------------------------
                                                readFromStream
 ---------------------------------------------------------------*/
void  CMatrixD::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
                {
                        uint32_t nRows,nCols;

                        // First, write the number of rows and columns:
                        in >> nRows >> nCols;

                        setSize(nRows,nCols);

                        if (nRows>0 && nCols>0)
                                for (Index i=0;i<rows();i++)
                                        in.ReadBufferFixEndianness<Scalar>(&coeffRef(i,0),nCols);
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
}