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quncertain.cpp
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109 lines (84 loc) · 2.48 KB
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/*
* This file is part of the GreasePad distribution (https://github.com/FraunhoferIOSB/GreasePad).
* Copyright (c) 2022-2026 Jochen Meidow, Fraunhofer IOSB
*
* This program 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.
*
* This program 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 this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "uncertain/quncertain.h"
#include "uncertain/usegment.h"
#include <Eigen/Core>
#include <QDataStream>
using Eigen::Matrix;
namespace Uncertain {
//! Overloaded operator>> for matrices
template <typename T>
QDataStream & operator>> ( QDataStream & in, MatrixBase<T> & MM)
{
for ( int r=0; r<MM.rows(); r++) {
for ( int c=0; c<MM.cols(); c++) {
in >> MM(r,c);
}
}
return in;
}
//! Overloaded operator<< for matrices
template <typename T>
QDataStream & operator<< ( QDataStream & out, const MatrixBase<T> &MM)
{
//qDebug() << Q_FUNC_INFO;
for ( int r=0; r<MM.rows(); r++) {
for (int c=0; c<MM.cols(); c++) {
out << MM(r,c);
}
}
return out;
}
//! Overloaded operator<< for vectors
template <typename T>
QDataStream & operator<< ( QDataStream & out, const Vector<T,Dynamic> &v)
{
//qDebug() << Q_FUNC_INFO;
for (const T val : v) {
out << val;
}
return out;
}
//! Overloaded operator>> for vectors
template <typename T, int N>
QDataStream & operator>> ( QDataStream & in, Vector<T,N> & v)
{
for (T & val : v ) {
in >> val;
}
return in;
}
//! Deserialization of uncertain straight line segment and its bounding box
QDataStream & operator>> ( QDataStream & in, uStraightLineSegment & us)
{
// qDebug() << Q_FUNC_INFO;
Vector<double,9> t;
Matrix<double,9,9> Sigma_tt;
in >> t;
in >> Sigma_tt;
us = uStraightLineSegment(t, Sigma_tt);
return in;
}
QDataStream & operator<< ( QDataStream & out, const uStraightLineSegment & us)
{
//qDebug() << Q_FUNC_INFO;
out << us.t();
out << us.Cov_tt();
return out;
}
} // namespace Uncertain