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File: | include/hpp/corbaserver/conversions.hh |
Date: | 2024-12-13 15:50:05 |
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1 | // Copyright (c) 2016, Joseph Mirabel | ||
2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
3 | // | ||
4 | |||
5 | // Redistribution and use in source and binary forms, with or without | ||
6 | // modification, are permitted provided that the following conditions are | ||
7 | // met: | ||
8 | // | ||
9 | // 1. Redistributions of source code must retain the above copyright | ||
10 | // notice, this list of conditions and the following disclaimer. | ||
11 | // | ||
12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
13 | // notice, this list of conditions and the following disclaimer in the | ||
14 | // documentation and/or other materials provided with the distribution. | ||
15 | // | ||
16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
27 | // DAMAGE. | ||
28 | |||
29 | #ifndef HPP_CORBASERVER_CONVERSIONS_HH | ||
30 | #define HPP_CORBASERVER_CONVERSIONS_HH | ||
31 | |||
32 | #include <hpp/common-idl.hh> | ||
33 | #include <hpp/corbaserver/fwd.hh> | ||
34 | #include <hpp/core/parameter.hh> | ||
35 | #include <hpp/util/exception-factory.hh> | ||
36 | |||
37 | namespace hpp { | ||
38 | namespace corbaServer { | ||
39 | typedef Eigen::Matrix<CORBA::Long, Eigen::Dynamic, Eigen::Dynamic> IntMatrix_t; | ||
40 | |||
41 | void toTransform3s(const Transform_ in, Transform3s& out); | ||
42 | |||
43 | Transform3s toTransform3s(const Transform_ in); | ||
44 | |||
45 | std::vector<Transform3s> toTransform3s(const TransformSeq in); | ||
46 | |||
47 | void toHppTransform(const Transform3s& in, Transform_ out); | ||
48 | |||
49 | Transform__slice* toHppTransform(const Transform3s& in); | ||
50 | |||
51 | void toIntSeq(std::vector<int> const& in, intSeq& out); | ||
52 | |||
53 | floatSeq* vectorToFloatSeq(core::vectorIn_t input); | ||
54 | |||
55 | void vectorToFloatSeq(core::vectorIn_t input, floatSeq& output); | ||
56 | |||
57 | /// Returns a sequence of the rows of the input matrix. | ||
58 | // Return [ [input.row(0)], [input.row(1)], ...] | ||
59 | floatSeqSeq* matrixToFloatSeqSeq(core::matrixIn_t input); | ||
60 | |||
61 | intSeqSeq* matrixToIntSeqSeq(Eigen::Ref<const IntMatrix_t> input); | ||
62 | |||
63 | std::vector<int> intSeqToVector(const intSeq& dofArray); | ||
64 | |||
65 | vector3_t floatSeqToVector3(const floatSeq& dofArray); | ||
66 | |||
67 | vector_t floatSeqToVector(const floatSeq& dofArray, | ||
68 | const size_type expectedSize = -1); | ||
69 | |||
70 | Configuration_t floatSeqToConfig(const DevicePtr_t& robot, | ||
71 | const floatSeq& dofArray, | ||
72 | bool throwIfNotNormalized); | ||
73 | |||
74 | core::matrix_t floatSeqSeqToMatrix(const floatSeqSeq& input, | ||
75 | const size_type expectedRows = -1, | ||
76 | const size_type expectedCols = -1); | ||
77 | |||
78 | IntMatrix_t intSeqSeqToMatrix(const intSeqSeq& input, | ||
79 | const size_type expectedRows = -1, | ||
80 | const size_type expectedCols = -1); | ||
81 | |||
82 | std::vector<bool> boolSeqToVector(const hpp::boolSeq& mask, | ||
83 | unsigned int length = 3); | ||
84 | |||
85 | stringSeqSeq* vectorToStringSeqSeq(std::vector<std::vector<std::string>> input); | ||
86 | |||
87 | 59 | inline char* c_str(const std::string& in) { | |
88 | 59 | char* out = new char[in.length() + 1]; | |
89 | 59 | strcpy(out, in.c_str()); | |
90 | 59 | return out; | |
91 | } | ||
92 | |||
93 | template <typename InputIt> | ||
94 | 4 | inline Names_t* toNames_t(InputIt begin, InputIt end) { | |
95 | 4 | std::size_t len = std::distance(begin, end); | |
96 | 4 | char** nameList = Names_t::allocbuf((CORBA::ULong)len); | |
97 | 4 | Names_t* ret = | |
98 |
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4 | new Names_t((CORBA::ULong)len, (CORBA::ULong)len, nameList, true); |
99 | |||
100 | 4 | std::size_t i = 0; | |
101 |
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67 | while (begin != end) { |
102 | 63 | nameList[i] = c_str(*begin); | |
103 | 63 | ++begin; | |
104 | 63 | ++i; | |
105 | } | ||
106 | 4 | return ret; | |
107 | } | ||
108 | |||
109 | template <typename Iterable> | ||
110 | 1 | inline Names_t* toNames_t(const Iterable& iterable) { | |
111 | 1 | return toNames_t(iterable.begin(), iterable.end()); | |
112 | } | ||
113 | |||
114 | template <typename InputIt> | ||
115 | ✗ | inline intSeq* toIntSeq(InputIt begin, InputIt end) { | |
116 | ✗ | std::size_t len = std::distance(begin, end); | |
117 | ✗ | intSeq* indexes = new intSeq(); | |
118 | ✗ | indexes->length((CORBA::ULong)len); | |
119 | |||
120 | ✗ | std::size_t i = 0; | |
121 | ✗ | while (begin != end) { | |
122 | ✗ | (*indexes)[(CORBA::ULong)i] = *begin; | |
123 | ✗ | ++begin; | |
124 | ✗ | ++i; | |
125 | } | ||
126 | ✗ | return indexes; | |
127 | } | ||
128 | |||
129 | intSeq* toIntSeq(std::vector<int> const& in); | ||
130 | |||
131 | template <typename InputIt> | ||
132 | ✗ | inline boolSeq* toBoolSeq(InputIt begin, InputIt end) { | |
133 | ✗ | std::size_t len = std::distance(begin, end); | |
134 | ✗ | boolSeq* indexes = new boolSeq(); | |
135 | ✗ | indexes->length((CORBA::ULong)len); | |
136 | |||
137 | ✗ | std::size_t i = 0; | |
138 | ✗ | while (begin != end) { | |
139 | ✗ | (*indexes)[(CORBA::ULong)i] = *begin; | |
140 | ✗ | ++begin; | |
141 | ✗ | ++i; | |
142 | } | ||
143 | ✗ | return indexes; | |
144 | } | ||
145 | |||
146 | template <typename OutputType> | ||
147 | ✗ | inline OutputType toStrings(const Names_t& names) { | |
148 | ✗ | OutputType ret; | |
149 | ✗ | for (CORBA::ULong i = 0; i < names.length(); ++i) | |
150 | ✗ | ret.push_back(std::string(names[i])); | |
151 | ✗ | return ret; | |
152 | } | ||
153 | |||
154 | /// Convert CORBA comparison types to C++ comparison type. | ||
155 | constraints::ComparisonTypes_t convertComparison(hpp::ComparisonTypes_t comp); | ||
156 | |||
157 | /// Convert C++ comparison type to CORBA comparison types. | ||
158 | hpp::ComparisonTypes_t* convertComparison(constraints::ComparisonTypes_t comp); | ||
159 | |||
160 | core::Parameter toParameter(const CORBA::Any& any); | ||
161 | |||
162 | CORBA::Any toCorbaAny(const core::Parameter& parameter); | ||
163 | |||
164 | ✗ | inline CORBA::Any* toCorbaAnyPtr(const core::Parameter& parameter) { | |
165 | ✗ | CORBA::Any* ap = new CORBA::Any; | |
166 | ✗ | *ap = toCorbaAny(parameter); | |
167 | ✗ | return ap; | |
168 | } | ||
169 | |||
170 | } // namespace corbaServer | ||
171 | } // namespace hpp | ||
172 | |||
173 | #endif // HPP_CORBASERVER_CONVERSIONS_HH | ||
174 |