more consistent and general asVector(); delete file added by mistake

jundaozhilian · May 12, 2021 · 2466be8 · 2466be8
1 parent f6820ba
commit 2466be8
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Showing 7 changed files with 76 additions and 24 deletions.
diff --git a/doc/source/doxygen_objdb_11356.tmp b/doc/source/doxygen_objdb_11356.tmp
diff --git a/libs/math/include/mrpt/math/TPoint2D.h b/libs/math/include/mrpt/math/TPoint2D.h
@@ -104,15 +104,23 @@ struct TPoint2D_ : public TPoseOrPoint,
 		}
 	}
 
-	/**
-	 * Transformation into vector.
+	/** Gets the pose as a vector of doubles.
+	 * \tparam Vector It can be std::vector<double>, Eigen::VectorXd, etc.
 	 */
-	template <typename U>
-	void asVector(std::vector<U>& v) const
+	template <typename Vector>
+	void asVector(Vector& v) const
 	{
 		v.resize(2);
-		v[0] = static_cast<U>(this->x);
-		v[1] = static_cast<U>(this->y);
+		v[0] = TPoint2D_data<T>::x;
+		v[1] = TPoint2D_data<T>::y;
+	}
+	/// \overload
+	template <typename Vector>
+	Vector asVector() const
+	{
+		Vector v;
+		asVector(v);
+		return v;
 	}
 
 	bool operator<(const TPoint2D_& p) const;

diff --git a/libs/math/include/mrpt/math/TPoint3D.h b/libs/math/include/mrpt/math/TPoint3D.h
@@ -165,17 +165,26 @@ struct TPoint3D_ : public TPoseOrPoint,
 		TPoint3D_data<T>::z *= f;
 		return *this;
 	}
-	/**
-	 * Transformation into vector.
+	/** Gets the pose as a vector of doubles.
+	 * \tparam Vector It can be std::vector<double>, Eigen::VectorXd, etc.
 	 */
-	template <class VECTORLIKE>
-	void asVector(VECTORLIKE& v) const
+	template <typename Vector>
+	void asVector(Vector& v) const
 	{
 		v.resize(3);
 		v[0] = TPoint3D_data<T>::x;
 		v[1] = TPoint3D_data<T>::y;
 		v[2] = TPoint3D_data<T>::z;
 	}
+	/// \overload
+	template <typename Vector>
+	Vector asVector() const
+	{
+		Vector v;
+		asVector(v);
+		return v;
+	}
+
 	/**
 	 * Translation.
 	 */

diff --git a/libs/math/include/mrpt/math/TPose2D.h b/libs/math/include/mrpt/math/TPose2D.h
@@ -85,16 +85,26 @@ struct TPose2D : public TPoseOrPoint,
 			default: throw std::out_of_range("index out of range");
 		}
 	}
-	/**
-	 * Transformation into vector.
+	/** Gets the pose as a vector of doubles.
+	 * \tparam Vector It can be std::vector<double>, Eigen::VectorXd, etc.
 	 */
-	void asVector(std::vector<double>& v) const
+	template <typename Vector>
+	void asVector(Vector& v) const
 	{
 		v.resize(3);
 		v[0] = x;
 		v[1] = y;
 		v[2] = phi;
 	}
+	/// \overload
+	template <typename Vector>
+	Vector asVector() const
+	{
+		Vector v;
+		asVector(v);
+		return v;
+	}
+
 	/** Returns a human-readable textual representation of the object (eg: "[x y
 	 * yaw]", yaw in degrees)
 	 * \sa fromString

diff --git a/libs/math/include/mrpt/math/TPose3D.h b/libs/math/include/mrpt/math/TPose3D.h
@@ -107,10 +107,11 @@ struct TPose3D : public TPoseOrPoint,
 	 * Pose's spatial coordinates norm.
 	 */
 	double norm() const { return std::sqrt(square(x) + square(y) + square(z)); }
-	/**
-	 * Gets the pose as a vector of doubles.
+	/** Gets the pose as a vector of doubles.
+	 * \tparam Vector It can be std::vector<double>, Eigen::VectorXd, etc.
 	 */
-	void asVector(std::vector<double>& v) const
+	template <typename Vector>
+	void asVector(Vector& v) const
 	{
 		v.resize(6);
 		v[0] = x;
@@ -120,6 +121,15 @@ struct TPose3D : public TPoseOrPoint,
 		v[4] = pitch;
 		v[5] = roll;
 	}
+	/// \overload
+	template <typename Vector>
+	Vector asVector() const
+	{
+		Vector v;
+		asVector(v);
+		return v;
+	}
+
 	/** Returns a human-readable textual representation of the object (eg: "[x y
 	 * z yaw pitch roll]", angles in degrees.)
 	 * \sa fromString

diff --git a/libs/math/include/mrpt/math/TTwist2D.h b/libs/math/include/mrpt/math/TTwist2D.h
@@ -58,14 +58,26 @@ struct TTwist2D : public internal::ProvideStaticResize<TTwist2D>
 			default: throw std::out_of_range("index out of range");
 		}
 	}
-	/** Transformation into vector */
-	void asVector(std::vector<double>& v) const
+	/** Gets the twist as a vector of doubles.
+	 * \tparam Vector It can be std::vector<double>, Eigen::VectorXd, etc.
+	 */
+	template <typename Vector>
+	void asVector(Vector& v) const
 	{
 		v.resize(3);
 		v[0] = vx;
 		v[1] = vy;
 		v[2] = omega;
 	}
+	/// \overload
+	template <typename Vector>
+	Vector asVector() const
+	{
+		Vector v;
+		asVector(v);
+		return v;
+	}
+
 	/** Transform the (vx,vy) components for a counterclockwise rotation of
 	 * `ang` radians. */
 	void rotate(const double ang);

diff --git a/libs/math/include/mrpt/math/TTwist3D.h b/libs/math/include/mrpt/math/TTwist3D.h
@@ -90,18 +90,21 @@ struct TTwist3D : public internal::ProvideStaticResize<TTwist3D>
 		wz *= k;
 	}
 
-	/** Transformation into vector [vx vy vz wx wy wz] */
-	template <typename VECTORLIKE>
-	void asVector(VECTORLIKE& v) const
+	/** Transformation into vector [vx vy vz wx wy wz].
+	 * \tparam Vector It can be std::vector<double>, Eigen::VectorXd, etc.
+	 */
+	template <typename Vector>
+	void asVector(Vector& v) const
 	{
 		v.resize(6);
 		for (int i = 0; i < 6; i++)
 			v[i] = (*this)[i];
 	}
-	template <typename VECTORLIKE>
-	VECTORLIKE asVector() const
+	/// \overload
+	template <typename Vector>
+	Vector asVector() const
 	{
-		VECTORLIKE v;
+		Vector v;
 		asVector(v);
 		return v;
 	}