matrix_serialization.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    |
   +---------------------------------------------------------------------------+ */
#pragma once

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

#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <mrpt/math/CMatrixFixedNumeric.h>

/** \file matrix_serialization.h
  * This file implements matrix/vector text and binary serialization */
namespace mrpt
{
        namespace math
        {
                /** \addtogroup container_ops_grp
                  *  @{ */

                /** @name Operators for binary streaming of MRPT matrices
                    @{ */

                /** Read operator from a CStream. The format is compatible with that of CMatrix & CMatrixD */
                template <size_t NROWS,size_t NCOLS>
                mrpt::utils::CStream &operator>>(mrpt::utils::CStream &in, CMatrixFixedNumeric<float,NROWS,NCOLS> & M) {
                        CMatrix  aux;
                        in.ReadObject(&aux);
                        ASSERTMSG_(M.cols()==aux.cols() && M.rows()==aux.rows(), format("Size mismatch: deserialized is %ux%u, expected is %ux%u",(unsigned)aux.getRowCount(),(unsigned)aux.getColCount(),(unsigned)NROWS,(unsigned)NCOLS))
                        M = aux;
                        return in;
                }
                /** Read operator from a CStream. The format is compatible with that of CMatrix & CMatrixD */
                template <size_t NROWS,size_t NCOLS>
                mrpt::utils::CStream &operator>>(mrpt::utils::CStream &in, CMatrixFixedNumeric<double,NROWS,NCOLS> & M) {
                        CMatrixD  aux;
                        in.ReadObject(&aux);
                        ASSERTMSG_(M.cols()==aux.cols() && M.rows()==aux.rows(), format("Size mismatch: deserialized is %ux%u, expected is %ux%u",(unsigned)aux.getRowCount(),(unsigned)aux.getColCount(),(unsigned)NROWS,(unsigned)NCOLS))
                        M = aux;
                        return in;
                }

                /** Write operator for writing into a CStream. The format is compatible with that of CMatrix & CMatrixD */
                template <size_t NROWS,size_t NCOLS>
                mrpt::utils::CStream &operator<<(mrpt::utils::CStream &out,const CMatrixFixedNumeric<float,NROWS,NCOLS> & M) {
                        CMatrix aux = CMatrixFloat(M);
                        out.WriteObject(&aux);
                        return out;
                }
                /** Write operator for writing into a CStream. The format is compatible with that of CMatrix & CMatrixD */
                template <size_t NROWS,size_t NCOLS>
                mrpt::utils::CStream &operator<<(mrpt::utils::CStream &out,const CMatrixFixedNumeric<double,NROWS,NCOLS> & M) {
                        CMatrixD aux = CMatrixDouble(M);
                        out.WriteObject(&aux);
                        return out;
                }

                /** @} */  // end MRPT matrices stream operators


                /** @name Operators for text streaming of MRPT matrices
                    @{ */


                /** Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. */
                template <typename T,size_t NROWS,size_t NCOLS>
                inline std::ostream & operator << (std::ostream & s, const CMatrixFixedNumeric<T,NROWS,NCOLS>& m)
                {
                        Eigen::IOFormat  fmt; fmt.matSuffix="\n";
                        return s << m.format(fmt);
                }

                /** Dumps the matrix to a text ostream, adding a final "\n" to Eigen's default output. */
                template<typename T>
                inline std::ostream & operator << (std::ostream & s, const CMatrixTemplateNumeric<T>& m)
                {
                        Eigen::IOFormat  fmt; fmt.matSuffix="\n";
                        return s << m.format(fmt);
                }

                /** @} */  // end MRPT matrices stream operators

                /**  @} */  // end of grouping
        } // End of math namespace
} // End of mrpt namespace