Program Listing for File Defs.h#
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/**
* @file
* @brief Contains common delcarations for Karana KUtils.
*/
#pragma once
#include "Karana/Math/Defs.h"
#include <type_traits>
namespace Karana::KUtils {
/// Primary template (default case: false)
template <typename T>
struct is_eigen_type : std::false_type {}; // NOLINT(readability-identifier-naming)
template <typename T>
struct is_eigen_int_type : std::false_type {}; // NOLINT(readability-identifier-naming)
/// Specialization for Eigen::Matrix
template <int Rows, int Cols>
struct is_eigen_type<Eigen::Matrix<double, Rows, Cols, Eigen::RowMajor>> : std::true_type {};
/// Specialization for Eigen::Vector
template <int Rows> struct is_eigen_type<Eigen::Matrix<double, Rows, 1>> : std::true_type {};
/// Specialization for Eigen::Vector of int type
template <int Rows> struct is_eigen_int_type<Eigen::Matrix<int, Rows, 1>> : std::true_type {};
/// Helper variable template to get the value
template <typename T> inline constexpr bool is_eigen_type_v = is_eigen_type<T>::value;
/// Helper variable template to get the value for integer types
template <typename T> inline constexpr bool is_eigen_int_type_v = is_eigen_int_type<T>::value;
/// Primary template (default case: false)
template <typename T>
struct is_eigen_vector : std::false_type {}; // NOLINT(readability-identifier-naming)
// template <typename T>
// struct is_eigen_int_vector : std::false_type {}; // NOLINT(readability-identifier-naming)
/// Specialization for Eigen::Vector
template <int Rows> struct is_eigen_vector<Eigen::Matrix<double, Rows, 1>> : std::true_type {};
/// Specialization for Eigen::Vector
// template <int Rows> struct is_eigen_int_vector<Eigen::Matrix<int, Rows, 1>> : std::true_type
// {};
/// Helper variable template to get the value
template <typename T> inline constexpr bool is_eigen_vector_v = is_eigen_vector<T>::value;
// template <typename T> inline constexpr bool is_eigen_int_vector_v =
// is_eigen_int_vector<T>::value;
/// Default template for extracting matrix dimensions (defaults to -1 x -1)
template <typename T>
struct extract_matrix_dimensions { // NOLINT(readability-identifier-naming)
/// Number of rows in the matrix
static constexpr int rows = -1;
/// Number of cols in the matrix
static constexpr int cols = -1;
};
/// Template to extract matrix dimensions from a vector.
template <int _rows> struct extract_matrix_dimensions<Eigen::Matrix<double, _rows, 1>> {
/// Number of rows in the matrix
static constexpr int rows = _rows;
/// Number of cols in the matrix
static constexpr int cols = 1;
};
/// Template to extract matrix dimensions from a RowMajor matrix.
template <int _rows, int _cols>
struct extract_matrix_dimensions<Eigen::Matrix<double, _rows, _cols, Eigen::RowMajor>> {
/// Number of rows in the matrix
static constexpr int rows = _rows;
/// Number of cols in the matrix
static constexpr int cols = _cols;
};
/// Get the rows value from extract_matrix_dimensions
template <typename T> constexpr int extract_rows_v = extract_matrix_dimensions<T>::rows;
/// Get the cols value from extract_matrix_dimensions
template <typename T> constexpr int extract_cols_v = extract_matrix_dimensions<T>::cols;
/**
* @brief Helper to extract rows from a Type T.
*
* @tparam T The object to extract rows from.
*/
template <typename T> struct extract_rows { // NOLINT(readability-identifier-naming)
/// Number of rows in the matrix
static constexpr int value = -1; // Default case (should never match)
};
/// Specialization for fixed-size Eigen::Matrix<double, rows, 1>
template <int rows> struct extract_rows<Eigen::Matrix<double, rows, 1>> {
/// Number of rows in the matrix
static constexpr int value = rows;
};
/// Helper variable template to get the value
template <typename T> constexpr int extract_vector_rows_v = extract_rows<T>::value;
#ifndef PYBIND11_MKDOC_SKIP
template <typename T>
concept isPlotDataType = std::is_same_v<double, T> or std::is_same_v<Karana::Math::Vec3, T> or
std::is_same_v<Karana::Math::Vec, T>;
template <typename T>
concept isLoggingDataType =
std::is_same_v<double, T> or std::is_same_v<float, T> or is_eigen_type_v<T> or
std::is_same_v<short, T> or std::is_same_v<int, T> or std::is_same_v<long, T> or
std::is_same_v<char, T>;
#endif
} // namespace Karana::KUtils