A collection of NamedData objects. More...

#include <DataGroup.h>

Public Types
typedef SurgSim::Math::RigidTransform3d	PoseType
	The type used for poses.

typedef SurgSim::Math::Vector3d	VectorType
	The type used for vectors.

typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	DynamicMatrixType
	The type used for matrices.

typedef double	ScalarType
	The type used for scalars.

typedef int	IntegerType
	The type used for integers.

typedef bool	BooleanType
	The type used for booleans.

typedef std::string	StringType
	The type used for strings.

typedef Image< float >	ImageType
	The type used for images.

Public Member Functions
	DataGroup ()
	Construct an empty object, with no associated names and indices yet.

	DataGroup (const DataGroup &dataGroup)
	Construct an object as a copy of the data from another object. More...

DataGroup &	operator= (const DataGroup &dataGroup)
	Copy the data from another object. More...

DataGroup &	operator= (DataGroup &&dataGroup)
	Move the data from another object. More...

NamedData< PoseType > &	poses ()
	Return the pose data structure. More...

const NamedData< PoseType > &	poses () const
	Return the pose data structure. More...

NamedData< VectorType > &	vectors ()
	Return the vector data structure. More...

const NamedData< VectorType > &	vectors () const
	Return the vector data structure. More...

NamedData< DynamicMatrixType > &	matrices ()
	Return the matrix data structure. More...

const NamedData< DynamicMatrixType > &	matrices () const
	Return the matrix data structure. More...

NamedData< ScalarType > &	scalars ()
	Return the scalar data structure. More...

const NamedData< ScalarType > &	scalars () const
	Return the scalar data structure. More...

NamedData< IntegerType > &	integers ()
	Return the integer data structure. More...

const NamedData< IntegerType > &	integers () const
	Return the integer data structure. More...

NamedData< BooleanType > &	booleans ()
	Return the boolean data structure. More...

const NamedData< BooleanType > &	booleans () const
	Return the boolean data structure. More...

NamedData< StringType > &	strings ()
	Return the string data structure. More...

const NamedData< StringType > &	strings () const
	Return the string data structure. More...

NamedData< ImageType > &	images ()
	Return the image data structure. More...

const NamedData< ImageType > &	images () const
	Return the image data structure. More...

NamedVariantData &	customData ()
	Return the custom data structure. More...

const NamedVariantData &	customData () const
	Return the custom data structure. More...

void	resetAll ()
	Mark all data as not current.

bool	isEmpty () const
	An empty DataGroup can be assigned to by any DataGroup with only valid NamedData. More...

Detailed Description

A collection of NamedData objects.

A DataGroup object contains a NamedData for each of several predefined types:

Booleans contain a Boolean logic value (true or false).
Images contain float images.
Integers contain an integer value.
Poses contain the position and orientation of an object in space, represented as a 3D rigid-body (isometric) transformation.
Matrices contain a matrix.
Scalars contain a scalar value (i.e. anything that can be represented as a double).
Strings contain a text value.
Vectors contain a vector quantity that does not change when the coordinate system is translated, such as a force or an oriented distance.
CustomData contain a custom data structure, NamedVariantData.

The entries (names and indices) are unique within each NamedData member, but not necessarily across different types (i.e. there could be a scalar and a vector both named "friction", or a pose and a boolean both at index 1). It is recommended that you keep names separate between different types to avoid confusion.

A DataGroup object constructed by the default constructor starts out empty, meaning all its NamedData member objects are "invalid". An empty DataGroup object can be made non-empty by:

using the DataGroupBuilder class,
copy construction,
assigning from a non-empty DataGroup object, or
assigning a "valid" NamedData object (of the correct template type) to one or more NamedData members.

Assignment to a non-empty DataGroup object is only possible if either of the two objects in the assignment was made non-empty based on the other object (see the above list items about copy construction and assignment from a non-empty DataGroup object).

Once a DataGroup is non-empty, the "entries" (i.e., the strings and indices that are used to access the data) cannot be changed, added to, removed from, or made empty. These properties ensure that a stable data layout is available to the code using this class. For example, the calling code can cache the entries' indices and from then on use the faster index-based lookup instead of the slower string-based lookup.

See also: SurgSim::DataStructures::NamedData, SurgSim::DataStructers::DataGroupBuilder

Constructor & Destructor Documentation

§ DataGroup()

SurgSim::DataStructures::DataGroup::DataGroup ( const DataGroup & dataGroup )

Construct an object as a copy of the data from another object.

Parameters

dataGroup The object to copy from.

Member Function Documentation

§ booleans() [1/2]

NamedData< DataGroup::BooleanType > & SurgSim::DataStructures::DataGroup::booleans ( )

Return the boolean data structure.

Returns: the mutable Boolean data.

§ booleans() [2/2]

const NamedData< DataGroup::BooleanType > & SurgSim::DataStructures::DataGroup::booleans ( ) const

Return the boolean data structure.

Returns: the read-only Boolean data.

§ customData() [1/2]

NamedVariantData & SurgSim::DataStructures::DataGroup::customData ( )

Return the custom data structure.

Returns: the mutable data.

§ customData() [2/2]

const NamedVariantData & SurgSim::DataStructures::DataGroup::customData ( ) const

Return the custom data structure.

Returns: the read-only data.

§ images() [1/2]

NamedData< DataGroup::ImageType > & SurgSim::DataStructures::DataGroup::images ( )

Return the image data structure.

Returns: the mutable iamge data.

§ images() [2/2]

const NamedData< DataGroup::ImageType > & SurgSim::DataStructures::DataGroup::images ( ) const

Return the image data structure.

Returns: the read-only images data.

§ integers() [1/2]

NamedData< DataGroup::IntegerType > & SurgSim::DataStructures::DataGroup::integers ( )

Return the integer data structure.

Returns: the mutable integer data.

§ integers() [2/2]

const NamedData< DataGroup::IntegerType > & SurgSim::DataStructures::DataGroup::integers ( ) const

Return the integer data structure.

Returns: the read-only integer data.

§ isEmpty()

bool SurgSim::DataStructures::DataGroup::isEmpty ( ) const

An empty DataGroup can be assigned to by any DataGroup with only valid NamedData.

return true if all the NamedData are invalid.

§ matrices() [1/2]

NamedData< DataGroup::DynamicMatrixType > & SurgSim::DataStructures::DataGroup::matrices ( )

Return the matrix data structure.

Returns: the mutable matrix data.

§ matrices() [2/2]

const NamedData< DataGroup::DynamicMatrixType > & SurgSim::DataStructures::DataGroup::matrices ( ) const

Return the matrix data structure.

Returns: the read-only matrix data.

§ operator=() [1/2]

DataGroup & SurgSim::DataStructures::DataGroup::operator= ( const DataGroup & dataGroup )

Copy the data from another object.

The object being assigned into must either be empty (not yet associated with a set of names and indices), or the two objects must share the same data layout, resulting from earlier copy construction or assignment.

DataGroup initial;
// ...initialize "initial" to some non-empty value...
DataGroup copyConstructed(initial);  // Layout is shared with initial
copyConstructed = initial            // OK, using the same layout
DataGroup another;                   // Object is empty (no layout)
another = initial;                   // OK, layout is now shared with initial
another = initial                    // OK, using the same layout

Note that the data layout must be the same, i.e. related to one another by object assignment or copy construction. Objects that merely contain entries with the same names and indices are not acceptable! (Otherwise, we'd need to inefficiently compare layout contents each time we assign.)

DataGroupBuilder builder;
// ...initialize the entries in the builder...
NamedData first = builder.createData();   // Layout of entries created from builder
NamedData second = builder.createData();  // Another layout of entries created; names and indices match
second = first;                           // ERROR at run-time, layouts were created separately!

Parameters

dataGroup The object to copy from.

Returns: The object that was assigned into.

§ operator=() [2/2]

DataGroup & SurgSim::DataStructures::DataGroup::operator= ( DataGroup && dataGroup )

Move the data from another object.

The same restrictions on object compatibility apply as in the case of the copy assignment operator=(const DataGroup&).

Parameters

[in,out] dataGroup The object to copy from, which will be left in an unusable state.

Returns: The object that was assigned into.

§ poses() [1/2]

NamedData< DataGroup::PoseType > & SurgSim::DataStructures::DataGroup::poses ( )

Return the pose data structure.

Returns: the mutable pose data.

§ poses() [2/2]

const NamedData< DataGroup::PoseType > & SurgSim::DataStructures::DataGroup::poses ( ) const

Return the pose data structure.

Returns: the read-only pose data.

§ scalars() [1/2]

NamedData< DataGroup::ScalarType > & SurgSim::DataStructures::DataGroup::scalars ( )

Return the scalar data structure.

Returns: the mutable scalar data.

§ scalars() [2/2]

const NamedData< DataGroup::ScalarType > & SurgSim::DataStructures::DataGroup::scalars ( ) const

Return the scalar data structure.

Returns: the read-only scalar data.

§ strings() [1/2]

NamedData< DataGroup::StringType > & SurgSim::DataStructures::DataGroup::strings ( )

Return the string data structure.

Returns: the mutable string data.

§ strings() [2/2]

const NamedData< DataGroup::StringType > & SurgSim::DataStructures::DataGroup::strings ( ) const

Return the string data structure.

Returns: the read-only string data.

§ vectors() [1/2]

NamedData< DataGroup::VectorType > & SurgSim::DataStructures::DataGroup::vectors ( )

Return the vector data structure.

Returns: the mutable vector data.

§ vectors() [2/2]

const NamedData< DataGroup::VectorType > & SurgSim::DataStructures::DataGroup::vectors ( ) const

Return the vector data structure.

Returns: the read-only vector data.

The documentation for this class was generated from the following files:

SurgSim/DataStructures/DataGroup.h
SurgSim/DataStructures/DataGroup.cpp

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

§ DataGroup()

Member Function Documentation

§ booleans() [1/2]

§ booleans() [2/2]

§ customData() [1/2]

§ customData() [2/2]

§ images() [1/2]

§ images() [2/2]

§ integers() [1/2]

§ integers() [2/2]

§ isEmpty()

§ matrices() [1/2]

§ matrices() [2/2]

§ operator=() [1/2]

§ operator=() [2/2]

§ poses() [1/2]

§ poses() [2/2]

§ scalars() [1/2]

§ scalars() [2/2]

§ strings() [1/2]

§ strings() [2/2]

§ vectors() [1/2]

§ vectors() [2/2]