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AndreaRigoni
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src/Math/Dense.h
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280
src/Math/Dense.h
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/*//////////////////////////////////////////////////////////////////////////////
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// CMT Cosmic Muon Tomography project //////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
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All rights reserved
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Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >
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------------------------------------------------------------------
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 3.0 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library.
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//////////////////////////////////////////////////////////////////////////////*/
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/*
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* <one line to give the program's name and a brief idea of what it does.>
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* Copyright (C) 2012 Andrea Rigoni Garola <andrea@pcimg05>
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*
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* This library is free software; you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation; either version 2.1 of the
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* License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
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* 02110-1301 USA
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*
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*/
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#ifndef ULIB_DENSEMATRIX_H
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#define ULIB_DENSEMATRIX_H
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#include <stdlib.h>
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#include <Eigen/Dense>
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#include "Core/Types.h"
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#include "Core/Serializable.h"
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//// BOOST SERIALIZATION ///////////////////////////////////////////////////////
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#include <boost/algorithm/string.hpp>
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#include <boost/algorithm/string/split.hpp>
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#include <boost/algorithm/string/trim.hpp>
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#include <boost/lexical_cast.hpp>
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#include <boost/serialization/string.hpp>
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#include <boost/serialization/array.hpp>
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namespace boost {
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namespace serialization {
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template<class Archive, class Scalar, int RowsAtCompileTime, int ColsAtCompileTime>
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void serialize(Archive & ar, ::Eigen::Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime> & m, const unsigned int /*version*/) {
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ar & boost::serialization::make_array(m.data(), RowsAtCompileTime * ColsAtCompileTime);
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}
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} // serialization
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} // boost
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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// EIGEN VECTOR STREAM INTERACTIONS ////////////////////////////////////////////
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// this is needed by boost::lexical_cast to cope with Eigens Vectors ///////////
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namespace Eigen {
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template <typename T, int size>
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std::istream & operator >> (std::istream &is, Eigen::Matrix<T,size,1> &vec) {
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std::string str;
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for( unsigned int i=0; i<size; i++) {
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is >> std::skipws;
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is >> str;
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if(is.fail()) vec(i) = 0;
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else vec(i) = boost::lexical_cast<T>(str);
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}
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return is;
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}
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template <typename T, int size>
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std::ostream & operator << (std::ostream &os, const Eigen::Matrix<T,size,1> &vec) {
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os << vec.transpose();
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return os;
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}
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} // Eigen
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////////////////////////////////////////////////////////////////////////////////
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namespace uLib {
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typedef int Scalari;
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typedef unsigned int Scalarui;
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typedef long Scalarl;
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typedef unsigned long Scalarul;
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typedef float Scalarf;
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typedef double Scalard;
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typedef Eigen::Matrix<int,1,1> Matrix1i;
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typedef Eigen::Matrix2i Matrix2i;
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typedef Eigen::Matrix3i Matrix3i;
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typedef Eigen::Matrix4i Matrix4i;
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typedef Eigen::Matrix<float,1,1> Matrix1f;
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typedef Eigen::Matrix2f Matrix2f;
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typedef Eigen::Matrix3f Matrix3f;
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typedef Eigen::Matrix4f Matrix4f;
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typedef Eigen::Matrix<int,1,1> Vector1i;
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typedef Eigen::Vector2i Vector2i;
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typedef Eigen::Vector3i Vector3i;
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typedef Eigen::Vector4i Vector4i;
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typedef Eigen::Matrix<float,1,1> Vector1f;
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typedef Eigen::Vector2f Vector2f;
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typedef Eigen::Vector3f Vector3f;
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typedef Eigen::Vector4f Vector4f;
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////////////////////////////////////////////////////////////////////////////////
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// Vector String interaction ///////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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/*! Given a string consisting of a series of doubles with some
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* delimiter, return an Eigen::Vector populated with those
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* values, in the same order as they are given in the string.
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*
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* \param vec A double vector to be populated with the results
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* \param str A string to be parsed as a series of doubles.
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* \param delim Delimiters of the text (a typical default is " ," for comma and space-delimited text
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*
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*/
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template <typename T, int size>
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void VectorxT_StringTo(Eigen::Matrix<T,size,1> &vec, std::string str, const char *delim = " ,;\t\n") {
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std::vector<std::string> strvec;
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boost::algorithm::trim_if( str, boost::algorithm::is_any_of(delim));
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boost::algorithm::split(strvec,str,boost::algorithm::is_any_of(delim), boost::algorithm::token_compress_on);
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for( unsigned int i=0; i<size; i++) {
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vec(i) = boost::lexical_cast<T>(strvec[i]);
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}
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}
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template <typename T, int size>
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std::string VectorxT_ToString(const Eigen::Matrix<T,size,1> &vec) {
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std::stringstream sst;
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sst << vec.transpose();
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return sst.str();
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}
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//template <typename T, int size>
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//Eigen::Matrix<T,size,1> & operator >> (std::istream &is, Eigen::Matrix<T,size,1> &vec) {
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//}
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template <typename T, int size>
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void operator>> (std::string& str, Eigen::Matrix<T,size,1> &vec){
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VectorxT_StringTo(vec,str);
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}
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////////////////////////////////////////////////////////////////////////////////
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////// HOMOGENEOUS VECTORS //////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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template <bool p>
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class _HPoint3f : public Eigen::Matrix< Scalarf,4,1 > {
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public:
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typedef Eigen::Matrix< Scalarf,4,1 > BaseClass;
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_HPoint3f<p>() : BaseClass(0,0,0,p) {}
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_HPoint3f<p>(float x,float y,float z) : BaseClass(x,y,z,p) {}
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_HPoint3f<p>(Vector3f &in) : BaseClass(in.homogeneous()) { this->operator()(3) = p; }
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void operator delete(void* _p, size_t _s) {}
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// This constructor allows to construct MyVectorType from Eigen expressions
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template<typename OtherDerived>
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inline _HPoint3f<p>(const Eigen::MatrixBase<OtherDerived>& other)
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: BaseClass(other)
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{ }
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// This method allows to assign Eigen expressions to Vector3H
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template<typename OtherDerived>
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inline _HPoint3f<p> & operator= (const Eigen::MatrixBase <OtherDerived>& other)
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{
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this->BaseClass::operator=(other);
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return *this;
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}
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};
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typedef _HPoint3f<false> HVector3f;
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typedef _HPoint3f<true> HPoint3f;
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////////////////////////////////////////////////////////////////////////////////
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////// HOMOGENEOUS LINE //////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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struct _HLine3f
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{
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HPoint3f origin;
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HVector3f direction;
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};
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typedef struct _HLine3f HLine3f;
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inline std::ostream&
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operator<< (std::ostream& stream, const HLine3f &line) {
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stream << "HLine3f(" << "pt[" << line.origin.transpose() <<"] , dr[" << line.direction.transpose() << "]) ";
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return stream;
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}
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struct _HError3f
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{
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HVector3f position_error;
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HVector3f direction_error;
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};
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typedef struct _HError3f HError3f;
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inline std::ostream&
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operator<< (std::ostream& stream, const HError3f &err) {
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stream << "HError3f(" << "ept[" << err.position_error.transpose() <<"] , edr[" << err.direction_error.transpose() << "]) ";
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return stream;
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}
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}
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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// SERIALIZTION //
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ULIB_SERIALIZABLE(uLib::HPoint3f)
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ULIB_SERIALIZABLE(uLib::HVector3f)
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ULIB_SERIALIZABLE(uLib::HLine3f)
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ULIB_SERIALIZABLE(uLib::HError3f)
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#endif // U_DENSEMATRIX_H
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