vpSubRowVector.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software 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 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Mask on a vpRowVector .
 */
 
#include <stdlib.h>
 
#include <visp3/core/vpException.h>
#include <visp3/core/vpSubRowVector.h>
 
vpSubRowVector::vpSubRowVector() : vpRowVector(), m_pColNum(0), m_parent(nullptr) { }
 
vpSubRowVector::vpSubRowVector(vpRowVector &v, const unsigned int &offset, const unsigned int &ncols)
  : vpRowVector(), m_pColNum(0), m_parent(nullptr)
{
  init(v, offset, ncols);
}
 
void vpSubRowVector::init(vpRowVector &v, const unsigned int &offset, const unsigned int &ncols)
{
  if (!v.data) {
    throw(vpException(vpException::fatalError, "Cannot initialize a sub-row "
                      "vector from an empty parent  row vector"));
  }
 
  if ((offset + ncols) <= v.getCols()) {
    data = v.data + offset;
 
    rowNum = 1;
    colNum = ncols;
 
    m_pColNum = v.getCols();
    m_parent = &v;
 
    if (rowPtrs) {
      free(rowPtrs);
    }
 
    rowPtrs = (double **)malloc(1 * sizeof(double *));
    for (unsigned int i = 0; i < 1; ++i) {
      rowPtrs[i] = v.data + i + offset;
    }
 
    dsize = colNum;
  }
  else {
    throw(vpException(vpException::dimensionError, "Cannot create a sub-row vector that is not completely "
                      "contained in the parent row vector"));
  }
}
 
vpSubRowVector::~vpSubRowVector() { data = nullptr; }
 
void vpSubRowVector::checkParentStatus() const
{
  if (!data) {
    throw(vpException(vpException::fatalError, "The parent of the current sub-row vector has been destroyed"));
  }
  if (m_pColNum != m_parent->getCols()) {
    throw(vpException(vpException::dimensionError, "The size of the parent sub-row vector has changed"));
  }
}
 
vpSubRowVector &vpSubRowVector::operator=(const vpSubRowVector &B)
{
  if (colNum != B.getCols()) {
    throw(vpException(vpException::dimensionError, "Cannot initialize (1x%d) sub-row vector from (1x%d) sub-row vector",
                      colNum, B.getCols()));
  }
  m_pColNum = B.m_pColNum;
  m_parent = B.m_parent;
  for (unsigned int i = 0; i < rowNum; ++i) {
    data[i] = B[i];
  }
 
  return *this;
}
 
vpSubRowVector &vpSubRowVector::operator=(const vpRowVector &B)
{
  if (colNum != B.getCols()) {
    throw(vpException(vpException::dimensionError, "Cannot initialize (1x%d) sub-row vector from (1x%d) row vector",
                      colNum, B.getCols()));
  }
 
  for (unsigned int i = 0; i < rowNum; ++i) {
    data[i] = B[i];
  }
 
  return *this;
}
 
vpSubRowVector &vpSubRowVector::operator=(const vpMatrix &B)
{
  if ((B.getRows() != 1) || (colNum != B.getCols())) {
    throw(vpException(vpException::dimensionError, "Cannot initialize (1x%d) sub-column vector from (%dx%d) matrix",
                      colNum, B.getRows(), B.getCols()));
  }
 
  for (unsigned int i = 0; i < rowNum; ++i) {
    data[i] = B[i][1];
  }
  return *this;
}
 
vpSubRowVector &vpSubRowVector::operator=(const double &x)
{
  for (unsigned int i = 0; i < rowNum; ++i) {
    data[i] = x;
  }
  return *this;
}