Merge pull request #56 from diegoferigo/WB3.0

WB-Toolbox 3.0

CMakeLists.txt

@@ -1,17 +1,20 @@
-# Copyright (C) 2013-2015 Instituto Italiano di Tecnologia
-# Author: Jorhabib Eljaik, Francesco Romano
+# Copyright (C) 2013-2017 iCub Facility - Istituto Italiano di Tecnologia
+# Author: Jorhabib Eljaik, Francesco Romano, Diego Ferigo
 # CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
-cmake_minimum_required(VERSION 2.8.11)
-
+cmake_minimum_required(VERSION 3.3)
 project(WB-Toolbox)
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 find_package(YCM REQUIRED)
 include(YCMDefaultDirs)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 set(WB-TOOLBOX_SHARE_DIR "${CMAKE_INSTALL_PREFIX}/share/WB-Toolbox")
 
+add_subdirectory(MxAnyType)
 add_subdirectory(toolbox)
 
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/images DESTINATION ${WB-TOOLBOX_SHARE_DIR})

MxAnyType/CMakeLists.txt

@@ -0,0 +1,51 @@
+cmake_policy(SET CMP0048 NEW)
+project(MxAnyType LANGUAGES CXX VERSION 0.1)
+cmake_minimum_required(VERSION 3.0.2)
+
+# Configure the project
+# =====================
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+include(GNUInstallDirs)
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Use a general prefix for the project
+set(VARS_PREFIX ${PROJECT_NAME})
+# set(VARS_PREFIX "MxAnyType")
+
+# Build the library
+# =================
+
+# Export the includes needed to who inherits this library
+# Set this up properly for handling either BUILD and INSTALL trees
+set(${VARS_PREFIX}_INCLUDE_BUILD ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set(${VARS_PREFIX}_INCLUDE_INSTALL ${CMAKE_INSTALL_INCLUDEDIR}/${VARS_PREFIX})
+
+# Add the target
+add_library(${VARS_PREFIX} STATIC ${CMAKE_CURRENT_SOURCE_DIR}/include/AnyType.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/include/MxAnyType.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/src/MxAnyType.cpp)
+
+
+# TODO: temporary, waiting the library becomes a shared
+if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+    set_target_properties(${VARS_PREFIX} PROPERTIES COMPILE_FLAGS "-fPIC")
+endif()
+
+# Find Matlab resources
+find_package(Matlab REQUIRED MX_LIBRARY)
+target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}")
+
+# Setup the include directories
+# TODO why in the how to was INTERFACE?
+target_include_directories(${VARS_PREFIX} PUBLIC
+                           $<BUILD_INTERFACE:${${VARS_PREFIX}_INCLUDE_BUILD}>
+                           $<INSTALL_INTERFACE:${${VARS_PREFIX}_INCLUDE_INSTALL}>)
+
+# Assign some useful properties
+# set_target_properties(${VARS_PREFIX} PROPERTIES VERSION ${PROJECT_VERSION}
+#                                      PUBLIC_HEADER MxAnyType.h)
+
+# Build tests
+# ===========
+# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests)

MxAnyType/include/AnyType.h

@@ -0,0 +1,61 @@
+#ifndef ANYTYPE_H
+#define ANYTYPE_H
+
+#include <vector>
+#include <unordered_map>
+#include <memory>
+
+class AnyType;
+
+typedef std::shared_ptr<AnyType> AnyTypeSPtr;
+typedef std::vector<AnyTypeSPtr> AnyCell;
+typedef std::unordered_map<std::string, AnyTypeSPtr> AnyStruct;
+
+class AnyType
+{
+protected:
+
+public:
+    AnyType() = default;
+    virtual ~AnyType() = default;
+
+    // Integers
+    virtual bool asInt(int& i)       = 0;
+    // virtual bool asInt8(int8_t& i)   = 0;
+    // virtual bool asInt16(int16_t& i) = 0;
+    virtual bool asInt32(int32_t& i) = 0;
+    // virtual bool asInt64(int64_t& i) = 0;
+
+    // Unsigned Integers
+    virtual bool asUInt(unsigned& i) = 0;
+    // virtual bool asUInt8(uint8_t& i)     = 0;
+    // virtual bool asUInt16(uint16_t& i)   = 0;
+    // virtual bool asUInt32(uint32_t& i)   = 0;
+    // virtual bool asUInt64(uint64_t& i)   = 0;
+
+    // Boolean
+    virtual bool asBool(bool& b) = 0;
+
+    // Floating-point
+    // virtual bool asFloat(float& f)   = 0;
+    virtual bool asDouble(double& d) = 0;
+
+    // Characters
+    virtual bool asString(std::string& s) = 0;
+
+    // Struct
+    virtual bool asAnyStruct(AnyStruct& map) = 0;
+
+    // Cell array
+    virtual bool asAnyCell(AnyCell& map) = 0;
+
+    // Matrix
+    // TODO: constraint max 2-dimension
+    // virtual bool asMatrixFloat(Eigen::MatrixXf mat)  = 0;
+    // virtual bool asMatrixDouble(Eigen::MatrixXd mat) = 0;
+
+    // Vector
+    virtual bool asVectorDouble(std::vector<double>& vec) = 0;
+};
+
+#endif /* ANYTYPE_H */

MxAnyType/include/MxAnyType.h

@@ -0,0 +1,98 @@
+#ifndef MXANYTYPE_H
+#define MXANYTYPE_H
+
+#include <vector>
+#include <string>
+#include <unordered_map>
+#include <cassert>
+#include "AnyType.h"
+#include "matrix.h"
+
+class MxAnyType;
+
+// If needed in the future
+// class MxAnyCell : public AnyCell {};
+// class MxAnyStruct : public AnyStruct {};
+
+struct MxArrayMetadata {
+    mxClassID id;
+    bool isScalar;
+    size_t rows;
+    size_t cols;
+    size_t nElem;
+    size_t nDims;
+    std::vector<size_t> dims;
+};
+
+class MxAnyType : public AnyType
+{
+private:
+    const mxArray* mx;
+    MxArrayMetadata md;
+    bool validate;
+
+    // TODO: https://it.mathworks.com/help/matlab/apiref/mxgetscalar.html returns a double always
+    bool asScalar(double& d);
+    bool validateClassId(mxClassID id1, mxClassID id2);
+
+    // mxArray* getMxArrayPtr() const { return static_cast<mxArray*>(getAnyDataPtr()); }
+
+public:
+    // void* getAnyDataPtr() const override {
+    //     return (void*) mx;
+    // }
+
+    MxAnyType();
+    MxAnyType(const mxArray* m, bool validateId = false);
+    ~MxAnyType() = default;
+    MxAnyType(const MxAnyType& mxAnyType);
+
+    void enableClassIDValidation();
+
+    // STRING / CHARS
+    // ==============
+
+    bool asString(std::string& s) override;
+
+    // SCALAR TYPES
+    // ============
+
+    // Generic casting
+    // ---------------
+
+    bool asInt(int& i) override;
+    bool asUInt(unsigned& i) override;
+
+    // Specific casting
+    // ----------------
+
+    bool asInt32(int32_t& i) override;
+
+    // TODO: complete with all the other scalar types
+    // bool asInt64(int64_t& i) override
+    // {
+    //     double buffer;
+    //     if (!asScalar(buffer)) return false;
+    //     i = static_cast<int64_t>(buffer);
+    //     return validateClassId(md.id, mxINT64_CLASS);
+    // }
+
+    bool asDouble(double& d) override;
+    bool asBool(bool& b) override;
+
+    // COMPOSITE DATA TYPES
+    // ====================
+
+    bool asAnyStruct(AnyStruct& s) override;
+    bool asAnyCell(AnyCell& cell) override;
+
+    // MATRIX
+    // ======
+
+    // VECTOR
+    // ======
+
+    bool asVectorDouble(std::vector<double>& vec) override;
+};
+
+#endif /* MXANYTYPE_H */