types.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef mrpt_utils_types_H
#define mrpt_utils_types_H

#include <vector>
#include <list>
#include <set>
#include <map>
#include <string>
#include <stdexcept>

// Standard elemental types:
#include "pstdint.h"  // The "portable stdint header file"

#define __STDC_FORMAT_MACROS
#if HAVE_INTTYPES_H
#       include <inttypes.h>
#elif defined(_MSC_VER)
#       include <mrpt/utils/msvc_inttypes.h>
#endif

// SSE2, SSE3 types:
#if MRPT_HAS_SSE2
        #include <emmintrin.h>
        #include <mmintrin.h>
#endif

//!< See ops_containers.h
#define DECLARE_MRPT_CONTAINER_TYPES \
                template <class ANOTHERCONT> struct mrpt_container { \
                        typedef void void_type; \
                        typedef ANOTHERCONT dum_type; \
                        typedef mrpt_autotype cont_type; \
                        typedef typename mrpt_autotype::value_type element_type; \
                };

#define COMMON_DECLARE_MRPT_CONTAINER_IS_MATRIX \
                typedef void mrpt_matrix_tag; \
                template <class ANOTHERCONT> struct mrpt_matrix_tag_templ { typedef void void_type; typedef ANOTHERCONT dum_type; typedef mrpt_autotype cont_type; \
                };

#define DECLARE_MRPT_CONTAINER_IS_MATRIX \
                COMMON_DECLARE_MRPT_CONTAINER_IS_MATRIX \
                enum dummy_enum {  mrpt_matrix_type_ncols = -1, \
                                mrpt_matrix_type_nrows = -1 }; \

#define DECLARE_MRPT_CONTAINER_IS_MATRIX_FIXED(NROWS,NCOLS) \
                COMMON_DECLARE_MRPT_CONTAINER_IS_MATRIX \
                enum dummy_enum {  mrpt_matrix_type_ncols = NCOLS, \
                                mrpt_matrix_type_nrows = NROWS };


#define DECLARE_MRPT_CONTAINER_IS_VECTOR \
                typedef void mrpt_vector_tag; \
                template <class ANOTHERCONT> struct mrpt_vector_tag_templ { typedef void void_type; typedef ANOTHERCONT dum_type; typedef mrpt_autotype cont_type; \
                };

/** A metaprogramming approach to assure that one type is a MRPT containers, to limit the scope of generic templates.
  *  If the type fulfills the condition, the macro expands into a simple "void" which can be used in function declarations. */
#define RET_VOID_ASSERT_MRPTCONTAINER(_CONTAINER) \
        typename _CONTAINER::template mrpt_container<void>::void_type

/** A metaprogramming approach to assure that two types are MRPT containers, to limit the scope of generic templates.
  *  If both types fulfill the condition, the macro expands into a simple "void" which can be used in function declarations. */
#define RET_VOID_ASSERT_MRPTCONTAINERS(_CONTAINER1,_CONTAINER2) \
        typename _CONTAINER1::template mrpt_container<typename _CONTAINER2::mrpt_autotype>::void_type

/** A metaprogramming approach to assure that two types are MRPT containers, to limit the scope of generic templates.
  *  If both types fulfill the condition, the macro expands into a "_CONTAINER1" type which can be used in function declarations. */
#define RET_CONT1_ASSERT_MRPTCONTAINERS(_CONTAINER1,_CONTAINER2) \
        typename _CONTAINER1::template mrpt_container<typename _CONTAINER2::mrpt_autotype>::cont_type

/** A metaprogramming approach to assure that two types are MRPT containers, to limit the scope of generic templates.
  *  If both types fulfill the condition, the macro expands into the type of "_CONTAINER1"'s elements, which can be used in function declarations. */
#define RET_ELEMENT_ASSERT_MRPTCONTAINERS(_CONTAINER1,_CONTAINER2) \
        typename _CONTAINER1::template mrpt_container<typename _CONTAINER2::mrpt_autotype>::element_type

/** A metaprogramming approach to assure that one type is a MRPT container, to limit the scope of generic templates.
  *  If the type fulfills the condition, the macro expands into a "_CONTAINER" type which can be used in function declarations. */
#define RET_CONT_ASSERT_MRPTCONTAINER(_CONTAINER) \
        typename _CONTAINER::mrpt_autotype

/** A metaprogramming approach to assure that one type is a MRPT container, to limit the scope of generic templates.
  *  If the type fulfills the condition, the macro expands into the type of each "_CONTAINER"'s elements, which can be used in function declarations. */
#define RET_ELEMENT_ASSERT_MRPTCONTAINER(_CONTAINER) \
        typename _CONTAINER::mrpt_autotype::value_type

/** A metaprogramming approach to assure that one type is a MRPT container, to limit the scope of generic templates.
  *  If the type fulfills the condition, the macro expands into the type "_RETTYPE", which can be used in function declarations. */
#define RET_TYPE_ASSERT_MRPTCONTAINER(_CONTAINER,_RETTYPE) \
        typename _CONTAINER::template mrpt_container<_RETTYPE>::dum_type

/** A metaprogramming approach to assure that a type is a MRPT matrix, to limit the scope of generic templates.
  *  If the type fulfills the condition, the macro expands into a simple "void" which can be used in function declarations. */
#define RET_VOID_ASSERT_MRPTMATRIX(_MATRIX) \
        typename _MATRIX::template mrpt_matrix_tag_templ<void>::void_type

/** A metaprogramming approach to assure that a type is a MRPT matrix, to limit the scope of generic templates.
  *  If the type fulfills the condition, the macro expands into the type "_RETTYPE", which can be used in function declarations. */
#define RET_TYPE_ASSERT_MRPTMATRIX(_MATRIX,_RETTYPE) \
        typename _MATRIX::template mrpt_matrix_tag_templ<_RETTYPE>::dum_type

/** A metaprogramming approach to assure that a type is a MRPT matrix, to limit the scope of generic templates.
  *  If both types fulfill the condition, the macro expands into the type of _MATRIX which can be used in function declarations. */
#define RET_MAT_ASSERT_MRPTMATRIX(_MATRIX) \
        typename _MATRIX::template mrpt_matrix_tag_templ<void>::cont_type

/** A metaprogramming approach to assure that two types are MRPT matrices, to limit the scope of generic templates.
  *  If both types fulfill the condition, the macro expands into a simple "void" which can be used in function declarations. */
#define RET_VOID_ASSERT_MRPTMATRICES(_MATRIX1,_MATRIX2) \
        typename _MATRIX1::template mrpt_matrix_tag_templ<typename _MATRIX2::mrpt_matrix_tag>::void_type

/** A metaprogramming approach to assure that two types are MRPT matrices, to limit the scope of generic templates.
  *  If both types fulfill the condition, the macro expands into the type of _MATRIX1 which can be used in function declarations. */
#define RET_MAT1_ASSERT_MRPTMATRICES(_MATRIX1,_MATRIX2) \
        typename _MATRIX1::template mrpt_matrix_tag_templ<typename _MATRIX2::mrpt_matrix_tag>::cont_type



/** A metaprogramming approach to assure that two types are MRPT vectors, to limit the scope of generic templates.
  *  If both types fulfill the condition, the macro expands into a "_CONTAINER1" type which can be used in function declarations. */
#define RET_CONT1_ASSERT_MRPTVECTORS(_VECTOR1,_VECTOR2) \
        typename _VECTOR1::template mrpt_vector_tag_templ<typename _VECTOR2::mrpt_vector_tag>::cont_type


// needed here for DECLARE_COMMON_CONTAINERS_MEMBERS
#include <mrpt/math/math_frwds.h>


namespace mrpt
{
        /** Numeric vectors compatible with mrpt/math/ops_containers.h:  */
        template <typename _TYPE>
        struct mrpt_base_vector : public std::vector<_TYPE>
        {
                inline mrpt_base_vector() : std::vector<_TYPE>() {}
                inline mrpt_base_vector(const std::vector<_TYPE> &o) : std::vector<_TYPE>(o) {}
                inline mrpt_base_vector<_TYPE> & operator =(const std::vector<_TYPE> &o) { std::vector<_TYPE>::operator =(o); return *this; }
                inline mrpt_base_vector(size_t N) : std::vector<_TYPE>(N) { }
                inline mrpt_base_vector(size_t N,_TYPE val) : std::vector<_TYPE>(N,val) { }
                typedef mrpt_base_vector<_TYPE> mrpt_autotype;
                DECLARE_MRPT_CONTAINER_TYPES
                DECLARE_MRPT_CONTAINER_IS_VECTOR
                DECLARE_COMMON_CONTAINERS_MEMBERS(_TYPE)
        };

        typedef mrpt_base_vector<float>         vector_float;
        typedef mrpt_base_vector<double>        vector_double;

        typedef mrpt_base_vector<int8_t>        vector_signed_byte;
        typedef mrpt_base_vector<int16_t>       vector_signed_word;
        typedef mrpt_base_vector<int32_t>       vector_int;
        typedef mrpt_base_vector<int64_t>       vector_long;
        typedef mrpt_base_vector<size_t>        vector_size_t;
        typedef mrpt_base_vector<uint8_t>       vector_byte;
        typedef mrpt_base_vector<uint16_t>      vector_word;
        typedef mrpt_base_vector<uint32_t>      vector_uint;

        typedef std::vector<bool>                       vector_bool;    //!<  A type for passing a vector of bools.
        typedef std::vector<std::string>        vector_string;  //!<  A type for passing a vector of strings.

        namespace utils
        {
                // Functors:   Ret: NO  In:1-3
                typedef void (*TFunctor_noRet_1inputs)(const void *);   //!< A generic functor type for functions accepting 1 input arguments and returning nothing.
                typedef void (*TFunctor_noRet_2inputs)(const void *,const void *);      //!< A generic functor type for functions accepting 2 input arguments and returning nothing.
                typedef void (*TFunctor_noRet_3inputs)(const void *,const void *,const void *); //!< A generic functor type for functions accepting 3 input arguments and returning nothing.
                // Functors:  Ret: double  In:1-3
                typedef double (*TFunctor_retDouble_1inputs)(const void *);     //!< A generic functor type for functions accepting 1 input arguments and returning a double value.
                typedef double (*TFunctor_retDouble_2inputs)(const void *,const void *);        //!< A generic functor type for functions accepting 2 input arguments and returning a double value.
                typedef double (*TFunctor_retDouble_3inputs)(const void *,const void *,const void *);   //!< A generic functor type for functions accepting 3 input arguments and returning a double value.
                // Functors:  Ret: vector  In: vector
                typedef void (*TFunctor_retVecDbl_inpVecDbl)(const vector_double &in, vector_double &out);      //!< A generic functor type for functions accepting 1 vector and returning 1 vector.
                typedef void (*TFunctor_retVecFlt_inpVecFlt)(const vector_float &in, vector_float &out);        //!< A generic functor type for functions accepting 1 vector and returning 1 vector.
                typedef void (*TFunctor_retVecInt_inpVecInt)(const vector_int &in, vector_int &out);    //!< A generic functor type for functions accepting 1 vector and returning 1 vector.
                // Functors:  Ret: vector  In: 2 x vector
                typedef void (*TFunctor_retVecDbl_inp2VecDbl)(const vector_double &x,const vector_double &y, vector_double &out);       //!< A generic functor type for functions accepting 2 vectors and returning 1 vector.
                typedef void (*TFunctor_retVecFlt_inp2VecFlt)(const vector_float &x,const vector_float &y, vector_float &out);          //!< A generic functor type for functions accepting 2 vectors and returning 1 vector.
                typedef void (*TFunctor_retVecInt_inp2VecInt)(const vector_int &x,const vector_int &y, vector_int &out);        //!< A generic functor type for functions accepting 2 vectors and returning 1 vector.
                // Functors:  Ret: double  In: vectors
                typedef double (*TFunctor_retDbl_inp1VecDbl)(const vector_double &in1); //!< A generic functor type for functions accepting 1 vector and returning 1 double.
                typedef double (*TFunctor_retDbl_inp2VecDbl)(const vector_double &in1,const vector_double &in2);        //!< A generic functor type for functions accepting 2 vectors and returning 1 double.
                typedef double (*TFunctor_retDbl_inp3VecDbl)(const vector_double &in1,const vector_double &in2,const vector_double &in3);       //!< A generic functor type for functions accepting 3 vectors and returning 1 double.

                /** For performing type casting from a pointer to its numeric value.
                */
                #if defined(_MSC_VER) && (_MSC_VER>=1300)
                        typedef unsigned long long POINTER_TYPE;
                #else
                        typedef unsigned long POINTER_TYPE;
                #endif

                /** A RGB color - 8bit */
                struct MRPTDLLIMPEXP TColor
                {
                        TColor(uint8_t r=0,uint8_t g=0,uint8_t b=0, uint8_t alpha=255) : R(r),G(g),B(b),A(alpha) { }
                        uint8_t R,G,B,A;
                        /** Operator for implicit conversion into an int binary representation 0xRRGGBB */
                        operator int(void) const { return (((int)R)<<16) | (((int)G)<<8) | B; }

                        static TColor red; //!< Predefined colors
                        static TColor green;//!< Predefined colors
                        static TColor blue;//!< Predefined colors
                        static TColor white;//!< Predefined colors
                        static TColor black;//!< Predefined colors
                        static TColor gray;     //!< Predefined colors
                };

                /** A RGB color - floats in the range [0,1] */
                struct MRPTDLLIMPEXP TColorf
                {
                        TColorf(float r=0,float g=0,float b=0, float alpha=1.0f) : R(r),G(g),B(b),A(alpha) { }
                        float R,G,B,A;
                };

                /** A pair (x,y) of pixel coordinates (subpixel resolution). */
                struct MRPTDLLIMPEXP TPixelCoordf
                {
                        double x,y;

                        /** Default constructor: undefined values of x,y */
                        TPixelCoordf() : x(),y() {}

                        /** Constructor from x,y values */
                        TPixelCoordf(const double _x,const double _y) : x(_x), y(_y) { }
                };

                /** A pair (x,y) of pixel coordinates (integer resolution). */
                struct MRPTDLLIMPEXP TPixelCoord
                {
                        TPixelCoord() : x(0),y(0) { }
                        TPixelCoord(const int _x,const int _y) : x(_x), y(_y) { }

                        int x,y;
                };

                typedef TPixelCoord TImageSize; //!< A type for image sizes.

                /** For usage when passing a dynamic number of (numeric) arguments to a function, by name.
                  *  \code
                  *    TParameters<double> p;
                  *    p["v_max"] = 1.0;  // Write
                  *    ...
                  *    cout << p["w_max"]; // Read, even if "p" is const.
                  *  \endcode
                  */
                template <typename T>
                struct TParameters : public std::map<std::string,T>
                {
                        inline bool has(const std::string &s) const { return std::map<std::string,T>::end()!=std::map<std::string,T>::find(s); }
                        /** A const version of the [] operator, for usage as read-only.
                          * \exception std::logic_error On parameter not present. Please, check existence with "has" before reading.
                          */
                        T operator[](const std::string &s) const {
                                typename std::map<std::string,T>::const_iterator it =std::map<std::string,T>::find(s);
                                if (std::map<std::string,T>::end()==it)
                                        throw std::logic_error(std::string("Parameter '")+s+std::string("' is not present.").c_str());
                                return it->second;
                        }
                        /** The write (non-const) version of the [] operator. */
                        inline T & operator[](const std::string &s) { return std::map<std::string,T>::operator[](s); }
                };
        } // end namespace
}

#endif