xsens_list.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 _XSENS_LIST_H_2006_06_08
#define _XSENS_LIST_H_2006_06_08

#include <cstdint>

#ifndef _JANITORS_H_2006_05_01
#include "xsens_janitors.h"
#endif

#ifdef _XSENS_COMPILE
#ifndef _XSENS_LIST_WITH_MATH
#define _XSENS_LIST_WITH_MATH
#endif
#ifndef _XSENS_LIST_IO
#define _XSENS_LIST_IO
#endif
#endif

#ifdef _DEBUG
#define _XSENS_LIST_RANGE_CHECKS
#endif

#ifdef _XSENS_LIST_WITH_MATH
#include <math.h>
#ifndef _XSENS_MATH_H_2006_05_31
#include "xsens_math.h"
#endif
#endif

#define XSENS_LIST_NOTFOUND 0xFFFFFFFF

#ifdef _XSENS_LIST_RANGE_CHECKS
//# define XSENS_LIST_THROW throw(...)   // JLBC: Changed for MRPT in Linux in
// Debug
#define XSENS_LIST_THROW
#else
#define XSENS_LIST_THROW
#endif

namespace xsens
{
/*! \brief Dynamic list class

    This class can store items of the given type. If the type supports the <
   operator
    it can also be sorted.
    Items in the list can be accessed through the [] operator or the get()
   function.

    Do NOT use any item type that requires a constructor to work correctly.
   Pointers to these
    objects can work though.
*/
template <typename T>
class List
{
   private:
    /** intentionally NOT implemented due to ambiguous nature */
    void operator=(const List& list);
    //! Sorts the list in an ascending order, using the T::< operator.
    void qSort(uint32_t left, uint32_t right);
    //! Sorts the list in an ascending order, using the T::< operator on
    //! dereferenced list items.
    void qSortDeref(uint32_t left, uint32_t right);

   protected:
    /** The array containing the items */
    T* m_data;
    /** The current size of the data array */
    uint32_t m_max;
    /** The number of items currently in the list */
    uint32_t m_count;
    /** Used to clean up the list on exit */
    JanitorClassFunc<List<T>>* m_jcf;
    bool m_manage;

    //! Construct a list as a reference to a raw list
    List(const uint32_t size, T* src, bool manage);

   public:
    //! A comparison function type, should return -1, 0 or 1 for <, == and >
    typedef int32_t (*cmpFunc)(const T&, const T&);

    //! Standard constructor, creates an empty list with some room for items.
    List();
    //! Construct a list with a capacity of at least the given size.
    List(const uint32_t size);
    //! Construct a list as a direct copy of another list
    List(const List<T>& src);
    //! Construct a list as a copy of a raw list
    List(const uint32_t size, const T* src);
    //! Destroy the list. This does NOT automatically delete items IN the list.
    ~List();

    //! Calls delete for all items in the list and then clears the list.
    void deleteAndClear(void);
    //! Calls free for all items in the list and then clears the list.
    void freeAndClear(void);
    //! Clears the list without explicitly deleting anything.
    void clear(void);
    //! Resizes the list to at least the given size.
    void resize(uint32_t newSize);
    //! Adds an item to the end of the list.
    void append(const T& item);
    //! Adds a number of items to the end of the list.
    void appendList(uint32_t count, const T* lst);
    //! Adds the contents of the source list to the end of the list.
    void appendDeepCopy(const List<T>& source);
    //! Adds the contents of the source list to the end of the list.
    void appendShallowCopy(const List<T>& source);
    //! Adds a copy of a referenced item to the end of the list.
    template <typename TB>
    void appendCopy(const TB& item);
    //! Adds a related item to the end of the list, using the T = TR operator.
    template <typename TR>
    void appendRelated(const TR& item);
    //! Removes an item at the given index in the list.
    void remove(const uint32_t index) XSENS_LIST_THROW;
    //! Swaps two items in the list.
    void swap(const uint32_t i, const uint32_t j) XSENS_LIST_THROW;
    //! Removes an item at the given index in the list.
    void deleteAndRemove(const uint32_t index) XSENS_LIST_THROW;
    //! Removes an item at the given index in the list.
    void freeAndRemove(const uint32_t index) XSENS_LIST_THROW;
    //! Retrieves the last item.
    T& last(void) const XSENS_LIST_THROW;
    //! Retrieves the item at the given index. An index beyond the end returns
    //! the first item.
    T& get(const uint32_t index) const XSENS_LIST_THROW;
    //! Retrieves the item at the given index. An index beyond the end probably
    //! causes an exception.
    T& operator[](const uint32_t index) const XSENS_LIST_THROW;
    //! Inserts an item at the given index, shifting any items below it down one
    //! spot.
    void insert(const T& item, const uint32_t index);
    //! Inserts a copy of the referenced item at the given index, shifting any
    //! items below it down one spot.
    template <typename TB>
    void insertCopy(const TB& item, const uint32_t index);
    //! Assumes the list is sorted and inserts the item at the appropriate spot.
    uint32_t insertSorted(const T& item);
    //! Assumes the list is sorted by dereferenced values and inserts the item
    //! at the appropriate spot.
    uint32_t insertSortedDeref(const T& item);
    //! Assumes the list is sorted and inserts a copy of the referenced item at
    //! the appropriate spot.
    template <typename TB>
    uint32_t insertSortedCopy(const TB& item);
    //! Returns the number of items currently in the list.
    uint32_t length(void) const { return m_count; }
    //! Sorts the list in an ascending order, using the T::< operator.
    void sortAscending(void);
    //! Sorts the list in an ascending order, using the T::< operator on
    //! dereferenced list items.
    void sortAscendingDeref(void);
    //! Sorts the first list in an ascending order, using the T::< operator, the
    //! second list will be updated the same way.
    template <typename T2>
    void twinSortAscending(List<T2>& twin);
    //! Finds an item in an unsorted list (walk over all items) using the T::==
    //! operator
    template <typename TB>
    uint32_t find(const TB& item) const;
    //! Finds an item in an unsorted list (walk over all items) using the T::==
    //! operator on dereferenced list items
    template <typename TB>
    uint32_t findDeref(const TB& item) const;
    //! Finds an item in a sorted list (binary search) using the T::== and T::<
    //! operators
    template <typename TB>
    uint32_t findSorted(const TB& item) const;
    //! Finds an item in a sorted list (binary search) using the T::== and T::<
    //! operators on dereferenced list items
    template <typename TB>
    uint32_t findSortedDeref(const TB& item) const;
    //! Reverse the order of the list, useful for sorted lists that are
    //! read/created in the reverse order
    void reverse(void);
    //! Removes items from the end of the list.
    void removeTail(const uint32_t count) XSENS_LIST_THROW;
    void deleteAndRemoveTail(const uint32_t count) XSENS_LIST_THROW;
    void freeAndRemoveTail(const uint32_t count) XSENS_LIST_THROW;

    //! Type for an equality compare function, should return true when NOT equal
    typedef int32_t(__cdecl* InequalityFunction)(const T&, const T&);
    //! Finds an item in an unsorted list (walk over all items) using the given
    //! inequality function
    uint32_t find(const T item, InequalityFunction fnc) const;

    void deleteItemsOnDestroy(void);
    void freeItemsOnDestroy(void);

    //! Removes any duplicate entries and returns the number of items removed.
    //! Items are compared directly.
    uint32_t removeDuplicateEntries(void);
    //! Removes any duplicate entries and returns the number of items removed.
    //! Items are compared after dereferencing.
    uint32_t removeDuplicateEntriesDeref(void);

    //! Make a copy of the list, duplicating list items i with: copy[i] = new
    //! TB(*source[i])
    template <typename TB>
    void isDeepCopyOf(const List<T>& source);
    //! Overwrites the current list with a shallow (memcopy) copy of another
    //! list.
    void isShallowCopyOf(const List<T>& source);

    //! Returns the start of the linear data buffer
    const T* getBuffer(void) const { return m_data; }
#ifdef _XSENS_LIST_IO
#ifdef _XSENS_LIST_WITH_MATH
    //! Saves the list as a matrix in a .mat file. This assumes that T is a
    //! Vector<T,E>
    void saveAsMatlab(const char* filename, const char* varname) const;
#endif
#endif
};

class IntList : public List<uint32_t>
{
   private:
    /** intentionally NOT implemented due to ambiguous nature */
    void operator=(const IntList& list);

   public:
    //! Standard constructor, creates an empty list with some room for items.
    IntList() : List<uint32_t>() {}
    //! Construct a list with a capacity of at least the given size.
    IntList(const uint32_t size) : List<uint32_t>(size) {}
    //! Construct a list as a direct copy of another list
    IntList(const IntList& src) : List<uint32_t>(src) {}
    //! Construct a list as a reference to a raw list
    IntList(const uint32_t size, uint32_t* src)
        : List<uint32_t>(size, src, false)
    {
    }

    bool operator==(const IntList& lst);

    void addValue(int32_t value);
    int32_t deserialize(const char* str);
    int32_t readFromString(const char* str);
    int32_t serialize(char* buffer) const;
    void setIncremental(
        const uint32_t start, const uint32_t end, const int32_t step);
    int32_t writeToString(char* buffer) const;
    int32_t writeToStringHex(char* buffer) const;
};
}  // end of xsens namespace

#endif  // _XSENS_LIST_H_2006_06_08