MathConvert.h

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// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_MATH_MATHCONVERT_H
#define SURGSIM_MATH_MATHCONVERT_H

#include <Eigen/Core>
#include <Eigen/Geometry>

#include <yaml-cpp/yaml.h>
#include <boost/any.hpp>

#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Math/LinearSparseSolveAndInverse.h"
#include "SurgSim/Math/OdeSolver.h"

namespace SurgSim
{
namespace Math
{
class Shape;

void toBytes(double d, std::vector<uint8_t>* result);

size_t fromBytes(const std::vector<uint8_t>& bytes, double* out, size_t start = 0);

void toBytes(SurgSim::Math::Vector3d in, std::vector<uint8_t>* result);

size_t fromBytes(const std::vector<uint8_t>& bytes, SurgSim::Math::Vector3d* out, size_t start = 0);
}
}


namespace YAML
{

SURGSIM_DOUBLE_SPECIALIZATION
template <typename Type, int Rows, int Cols, int MOpt>
struct convert<typename Eigen::Matrix<Type, Rows, Cols, MOpt>>
{
    static Node encode(const typename Eigen::Matrix<Type, Rows, Cols, MOpt>& rhs);
    static bool decode(const Node& node, typename Eigen::Matrix<Type, Rows, Cols, MOpt>& rhs); //NOLINT
};

SURGSIM_DOUBLE_SPECIALIZATION
template <class Type, int QOpt>
struct convert<typename Eigen::Quaternion<Type, QOpt>>
{
    static Node encode(const typename Eigen::Quaternion<Type, QOpt>& rhs);
    static bool decode(const Node& node, typename Eigen::Quaternion<Type, QOpt>& rhs); //NOLINT
};

SURGSIM_DOUBLE_SPECIALIZATION
template <class Type, int Dim, int TMode, int TOptions>
struct convert<typename Eigen::Transform<Type, Dim, TMode, TOptions>>
{
    static Node encode(const typename Eigen::Transform<Type, Dim, TMode, TOptions>& rhs);
    static bool decode(const Node& node, typename Eigen::Transform<Type, Dim, TMode, TOptions>& rhs); //NOLINT
};

SURGSIM_DOUBLE_SPECIALIZATION
template <typename Type>
struct convert<typename Eigen::AngleAxis<Type>>
{
    static Node encode(const typename Eigen::AngleAxis<Type>& rhs);
    static bool decode(const Node& node, typename Eigen::AngleAxis<Type>& rhs); //NOLINT
};

template <>
struct convert<std::shared_ptr<SurgSim::Math::Shape>>
{
    static Node encode(const std::shared_ptr<SurgSim::Math::Shape>& rhs);
    static bool decode(const Node& node, std::shared_ptr<SurgSim::Math::Shape>& rhs); //NOLINT
};

template <>
struct convert<SurgSim::Math::IntegrationScheme>
{
    static Node encode(const SurgSim::Math::IntegrationScheme& rhs);
    static bool decode(const Node& node, SurgSim::Math::IntegrationScheme& rhs); //NOLINT
};

template <>
struct convert<SurgSim::Math::LinearSolver>
{
    static Node encode(const SurgSim::Math::LinearSolver& rhs);
    static bool decode(const Node& node, SurgSim::Math::LinearSolver& rhs); //NOLINT
};

template<class T>
bool tryConvert(const boost::any& any, YAML::Node* node);

template <>
struct convert<boost::any>
{
    static Node encode(const boost::any rhs);
};


};

#include "SurgSim/Math/MathConvert-inl.h"

#endif // SURGSIM_MATH_MATHCONVERT_H