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refactor: reformat type introspection code and remove ObjectProps system.

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This commit is contained in:
AndreaRigoni
2026-02-21 10:45:25 +00:00
parent 8566ceb662
commit c04722c2bb
17 changed files with 878 additions and 1552 deletions
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216
src/Math/Dense.h
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@@ -23,9 +23,6 @@
//////////////////////////////////////////////////////////////////////////////*/
/*
* <one line to give the program's name and a brief idea of what it does.>
* Copyright (C) 2012 Andrea Rigoni Garola <andrea@pcimg05>
@@ -47,7 +44,6 @@
*
*/
#ifndef ULIB_DENSEMATRIX_H
#define ULIB_DENSEMATRIX_H
@@ -55,27 +51,29 @@
#include <Eigen/Dense>
//// BOOST SERIALIZATION ///////////////////////////////////////////////////////
#include <boost/algorithm/string.hpp>
#include <boost/algorithm/string/split.hpp>
#include <boost/algorithm/string/trim.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/serialization/string.hpp>
#include <boost/serialization/array.hpp>
#include <boost/serialization/string.hpp>
namespace boost {
namespace serialization {
template<class Archive, class Scalar, int RowsAtCompileTime, int ColsAtCompileTime>
void serialize(Archive & ar, ::Eigen::Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime> & m, const unsigned int /*version*/) {
ar & boost::serialization::make_array(m.data(), RowsAtCompileTime * ColsAtCompileTime);
template <class Archive, class Scalar, int RowsAtCompileTime,
int ColsAtCompileTime>
void serialize(Archive &ar,
::Eigen::Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime> &m,
const unsigned int /*version*/) {
ar &boost::serialization::make_array(m.data(),
RowsAtCompileTime * ColsAtCompileTime);
}
} // serialization
} // boost
} // namespace serialization
} // namespace boost
////////////////////////////////////////////////////////////////////////////////
@@ -84,177 +82,163 @@ void serialize(Archive & ar, ::Eigen::Matrix<Scalar, RowsAtCompileTime, ColsAtCo
// this is needed by boost::lexical_cast to cope with Eigens Vectors ///////////
namespace Eigen {
template <typename T, int size>
std::istream & operator >> (std::istream &is, Eigen::Matrix<T,size,1> &vec) {
std::string str;
for( unsigned int i=0; i<size; i++) {
is >> std::skipws;
is >> str;
if(is.fail()) vec(i) = 0;
else vec(i) = boost::lexical_cast<T>(str);
}
return is;
std::istream &operator>>(std::istream &is, Eigen::Matrix<T, size, 1> &vec) {
std::string str;
for (unsigned int i = 0; i < size; i++) {
is >> std::skipws;
is >> str;
if (is.fail())
vec(i) = 0;
else
vec(i) = boost::lexical_cast<T>(str);
}
return is;
}
template <typename T, int size>
std::ostream & operator << (std::ostream &os, const Eigen::Matrix<T,size,1> &vec) {
os << vec.transpose();
return os;
std::ostream &operator<<(std::ostream &os,
const Eigen::Matrix<T, size, 1> &vec) {
os << vec.transpose();
return os;
}
} // Eigen
} // namespace Eigen
////////////////////////////////////////////////////////////////////////////////
namespace uLib {
typedef id_t Id_t;
typedef id_t Id_t;
typedef int Scalari;
typedef unsigned int Scalarui;
typedef long Scalarl;
typedef int Scalari;
typedef unsigned int Scalarui;
typedef long Scalarl;
typedef unsigned long Scalarul;
typedef float Scalarf;
typedef double Scalard;
typedef float Scalarf;
typedef double Scalard;
typedef Eigen::Matrix<int,1,1> Matrix1i;
typedef Eigen::Matrix<int, 1, 1> Matrix1i;
typedef Eigen::Matrix2i Matrix2i;
typedef Eigen::Matrix3i Matrix3i;
typedef Eigen::Matrix4i Matrix4i;
typedef Eigen::Matrix<float,1,1> Matrix1f;
typedef Eigen::Matrix<float, 1, 1> Matrix1f;
typedef Eigen::Matrix2f Matrix2f;
typedef Eigen::Matrix3f Matrix3f;
typedef Eigen::Matrix4f Matrix4f;
typedef Eigen::Matrix<int,1,1> Vector1i;
typedef Eigen::Matrix<int, 1, 1> Vector1i;
typedef Eigen::Vector2i Vector2i;
typedef Eigen::Vector3i Vector3i;
typedef Eigen::Vector4i Vector4i;
typedef Eigen::Matrix<float,1,1> Vector1f;
typedef Eigen::Matrix<float, 1, 1> Vector1f;
typedef Eigen::Vector2f Vector2f;
typedef Eigen::Vector3f Vector3f;
typedef Eigen::Vector4f Vector4f;
////////////////////////////////////////////////////////////////////////////////
// Vector String interaction ///////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
/*! Given a string consisting of a series of doubles with some
* delimiter, return an Eigen::Vector populated with those
* values, in the same order as they are given in the string.
*
* \param vec A double vector to be populated with the results
* \param str A string to be parsed as a series of doubles.
* \param delim Delimiters of the text (a typical default is " ," for comma and space-delimited text
*
*/
* delimiter, return an Eigen::Vector populated with those
* values, in the same order as they are given in the string.
*
* \param vec A double vector to be populated with the results
* \param str A string to be parsed as a series of doubles.
* \param delim Delimiters of the text (a typical default is " ," for comma and
* space-delimited text
*
*/
template <typename T, int size>
void VectorxT_StringTo(Eigen::Matrix<T,size,1> &vec, std::string str, const char *delim = " ,;\t\n") {
std::vector<std::string> strvec;
void VectorxT_StringTo(Eigen::Matrix<T, size, 1> &vec, std::string str,
const char *delim = " ,;\t\n") {
std::vector<std::string> strvec;
boost::algorithm::trim_if( str, boost::algorithm::is_any_of(delim));
boost::algorithm::split(strvec,str,boost::algorithm::is_any_of(delim), boost::algorithm::token_compress_on);
boost::algorithm::trim_if(str, boost::algorithm::is_any_of(delim));
boost::algorithm::split(strvec, str, boost::algorithm::is_any_of(delim),
boost::algorithm::token_compress_on);
for( unsigned int i=0; i<size; i++) {
vec(i) = boost::lexical_cast<T>(strvec[i]);
}
for (unsigned int i = 0; i < size; i++) {
vec(i) = boost::lexical_cast<T>(strvec[i]);
}
}
template <typename T, int size>
std::string VectorxT_ToString(const Eigen::Matrix<T,size,1> &vec) {
std::stringstream sst;
sst << vec.transpose();
return sst.str();
std::string VectorxT_ToString(const Eigen::Matrix<T, size, 1> &vec) {
std::stringstream sst;
sst << vec.transpose();
return sst.str();
}
//template <typename T, int size>
//Eigen::Matrix<T,size,1> & operator >> (std::istream &is, Eigen::Matrix<T,size,1> &vec) {
//}
// template <typename T, int size>
// Eigen::Matrix<T,size,1> & operator >> (std::istream &is,
// Eigen::Matrix<T,size,1> &vec) {
// }
template <typename T, int size>
void operator>> (std::string& str, Eigen::Matrix<T,size,1> &vec){
VectorxT_StringTo(vec,str);
void operator>>(std::string &str, Eigen::Matrix<T, size, 1> &vec) {
VectorxT_StringTo(vec, str);
}
////////////////////////////////////////////////////////////////////////////////
////// HOMOGENEOUS VECTORS //////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
template <bool p>
class _HPoint3f : public Eigen::Matrix< Scalarf,4,1 > {
template <bool p> class _HPoint3f : public Eigen::Matrix<Scalarf, 4, 1> {
public:
typedef Eigen::Matrix< Scalarf,4,1 > BaseClass;
typedef Eigen::Matrix<Scalarf, 4, 1> BaseClass;
_HPoint3f<p>() : BaseClass(0,0,0,p) {}
_HPoint3f<p>(float x,float y,float z) : BaseClass(x,y,z,p) {}
_HPoint3f<p>(Vector3f &in) : BaseClass(in.homogeneous()) { this->operator()(3) = p; }
_HPoint3f() : BaseClass(0, 0, 0, p) {}
_HPoint3f(float x, float y, float z) : BaseClass(x, y, z, p) {}
_HPoint3f(Vector3f &in) : BaseClass(in.homogeneous()) {
this->operator()(3) = p;
}
void operator delete(void* _p, size_t _s) {}
void operator delete(void *_p, size_t _s) {}
// This constructor allows to construct MyVectorType from Eigen expressions
template<typename OtherDerived>
inline _HPoint3f<p>(const Eigen::MatrixBase<OtherDerived>& other)
: BaseClass(other)
{ }
// This method allows to assign Eigen expressions to Vector3H
template<typename OtherDerived>
inline _HPoint3f<p> & operator= (const Eigen::MatrixBase <OtherDerived>& other)
{
this->BaseClass::operator=(other);
return *this;
}
// This constructor allows to construct MyVectorType from Eigen expressions
template <typename OtherDerived>
inline _HPoint3f(const Eigen::MatrixBase<OtherDerived> &other)
: BaseClass(other) {}
// This method allows to assign Eigen expressions to Vector3H
template <typename OtherDerived>
inline _HPoint3f &operator=(const Eigen::MatrixBase<OtherDerived> &other) {
this->BaseClass::operator=(other);
return *this;
}
};
typedef _HPoint3f<false> HVector3f;
typedef _HPoint3f<true> HPoint3f;
////////////////////////////////////////////////////////////////////////////////
////// HOMOGENEOUS LINE //////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
struct _HLine3f
{
HPoint3f origin;
HVector3f direction;
struct _HLine3f {
HPoint3f origin;
HVector3f direction;
};
typedef struct _HLine3f HLine3f;
inline std::ostream&
operator<< (std::ostream& stream, const HLine3f &line) {
stream << "HLine3f(" << "pt[" << line.origin.transpose() <<"] , dr[" << line.direction.transpose() << "]) ";
return stream;
inline std::ostream &operator<<(std::ostream &stream, const HLine3f &line) {
stream << "HLine3f(" << "pt[" << line.origin.transpose() << "] , dr["
<< line.direction.transpose() << "]) ";
return stream;
}
struct _HError3f
{
HVector3f position_error;
HVector3f direction_error;
struct _HError3f {
HVector3f position_error;
HVector3f direction_error;
};
typedef struct _HError3f HError3f;
inline std::ostream&
operator<< (std::ostream& stream, const HError3f &err) {
stream << "HError3f(" << "ept[" << err.position_error.transpose() <<"] , edr[" << err.direction_error.transpose() << "]) ";
return stream;
}
inline std::ostream &operator<<(std::ostream &stream, const HError3f &err) {
stream << "HError3f(" << "ept[" << err.position_error.transpose()
<< "] , edr[" << err.direction_error.transpose() << "]) ";
return stream;
}
} // namespace uLib
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
@@ -268,13 +252,9 @@ ULIB_SERIALIZABLE(uLib::HPoint3f)
ULIB_SERIALIZABLE(uLib::HVector3f)
ULIB_SERIALIZABLE(uLib::HLine3f)
ULIB_SERIALIZABLE(uLib::HError3f)
#endif // ULIB_SERIALIZATION_ON
#endif // U_DENSEMATRIX_H
#endif // U_DENSEMATRIX_H