utils_matlab.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 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_math_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