From fd5a63f09e3a79ac11d86d74c96b4f5e765132b4 Mon Sep 17 00:00:00 2001
From: Agnel Wang <59766821+Agnel-Wang@users.noreply.github.com>
Date: Wed, 26 Apr 2023 16:15:59 +0800
Subject: [PATCH] support for arm64
---
.gitignore | 2 +
CMakeLists.txt | 2 +-
include/FSM/BaseState.h | 62 +-
include/FSM/FSMState.h | 98 +-
include/FSM/FiniteStateMachine.h | 54 +-
include/FSM/State_BackToStart.h | 42 +-
include/FSM/State_Calibration.h | 34 +-
include/FSM/State_Cartesian.h | 0
include/FSM/State_JointSpace.h | 34 +-
include/FSM/State_LowCmd.h | 34 +-
include/FSM/State_MoveC.h | 44 +-
include/FSM/State_MoveJ.h | 0
include/FSM/State_MoveL.h | 0
include/FSM/State_Passive.h | 28 +-
include/FSM/State_SaveState.h | 34 +-
include/FSM/State_Teach.h | 46 +-
include/FSM/State_TeachRepeat.h | 54 +-
include/FSM/State_ToState.h | 46 +-
include/FSM/State_Trajectory.h | 72 +-
include/common/enumClass.h | 76 +-
include/common/math/Filter.h | 56 +-
include/common/math/mathTypes.h | 216 +-
include/common/utilities/CSVTool.h | 490 +-
include/common/utilities/loop.h | 0
include/common/utilities/typeTrans.h | 148 +-
include/control/CtrlComponents.h | 104 +-
include/interface/IOInterface.h | 54 +-
include/interface/IOROS.h | 0
include/interface/IOUDP.h | 50 +-
include/message/LowlevelCmd.h | 112 +-
include/message/LowlevelState.h | 122 +-
include/message/MotorCmd.h | 522 +-
include/message/MotorState.h | 582 +-
include/message/arm_common.h | 0
include/thirdparty/quadProgpp/Array.hh | 5064 ++++++++---------
include/thirdparty/quadProgpp/QuadProg++.hh | 154 +-
include/thirdparty/tinyxml/tinystr.h | 610 +-
include/thirdparty/tinyxml/tinyxml.h | 3610 ++++++------
include/trajectory/EndCircleTraj.h | 62 +-
include/trajectory/EndLineTraj.h | 0
include/trajectory/JointSpaceTraj.h | 64 +-
include/trajectory/SCurve.h | 96 +-
include/trajectory/StopForTime.h | 32 +-
include/trajectory/TrajectoryManager.h | 74 +-
...bZ1_ROS_Linux64.so => libZ1_ROS_x86_64.so} | Bin 1639832 -> 1639832 bytes
lib/libZ1_UDP_aarch64.so | Bin 0 -> 1553288 bytes
...bZ1_UDP_Linux64.so => libZ1_UDP_x86_64.so} | Bin 1548768 -> 1548768 bytes
main.cpp | 0
48 files changed, 6493 insertions(+), 6491 deletions(-)
create mode 100644 .gitignore
mode change 100755 => 100644 include/FSM/State_Cartesian.h
mode change 100755 => 100644 include/FSM/State_MoveJ.h
mode change 100755 => 100644 include/FSM/State_MoveL.h
mode change 100644 => 100755 include/common/math/Filter.h
mode change 100644 => 100755 include/common/utilities/loop.h
mode change 100755 => 100644 include/interface/IOROS.h
mode change 100644 => 100755 include/message/arm_common.h
mode change 100644 => 100755 include/thirdparty/quadProgpp/Array.hh
mode change 100644 => 100755 include/thirdparty/quadProgpp/QuadProg++.hh
mode change 100755 => 100644 include/trajectory/EndLineTraj.h
rename lib/{libZ1_ROS_Linux64.so => libZ1_ROS_x86_64.so} (90%)
mode change 100644 => 100755
create mode 100644 lib/libZ1_UDP_aarch64.so
rename lib/{libZ1_UDP_Linux64.so => libZ1_UDP_x86_64.so} (90%)
mode change 100644 => 100755
mode change 100755 => 100644 main.cpp
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..af96791
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+.vscode
+build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 65723b4..6811c18 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,4 +64,4 @@ link_directories(lib)
# ----------------------add executable----------------------
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
add_executable(z1_ctrl main.cpp)
-target_link_libraries(z1_ctrl libZ1_${COMMUNICATION}_Linux64.so ${catkin_LIBRARIES} )
+target_link_libraries(z1_ctrl libZ1_${COMMUNICATION}_${CMAKE_HOST_SYSTEM_PROCESSOR}.so ${catkin_LIBRARIES} )
diff --git a/include/FSM/BaseState.h b/include/FSM/BaseState.h
index 43d9071..96b7249 100755
--- a/include/FSM/BaseState.h
+++ b/include/FSM/BaseState.h
@@ -1,32 +1,32 @@
-#ifndef BASESTATE_H
-#define BASESTATE_H
-
-#include <string>
-#include "common/enumClass.h"
-
-class BaseState{
-public:
- BaseState(int stateNameEnum, std::string stateNameString)
- : _stateNameEnum(stateNameEnum), _stateNameString(stateNameString){}
- virtual ~BaseState(){};
-
- virtual void enter() = 0;
- virtual void run() = 0;
- virtual void exit() = 0;
- virtual int checkChange(int cmd) = 0;
-
- bool isState(int stateEnum){
- if(_stateNameEnum == stateEnum){
- return true;
- }else{
- return false;
- }
- }
- std::string getStateName(){return _stateNameString;}
- int getStateNameEnum(){return _stateNameEnum;};
-protected:
- int _stateNameEnum;
- std::string _stateNameString;
-};
-
+#ifndef BASESTATE_H
+#define BASESTATE_H
+
+#include <string>
+#include "common/enumClass.h"
+
+class BaseState{
+public:
+ BaseState(int stateNameEnum, std::string stateNameString)
+ : _stateNameEnum(stateNameEnum), _stateNameString(stateNameString){}
+ virtual ~BaseState(){};
+
+ virtual void enter() = 0;
+ virtual void run() = 0;
+ virtual void exit() = 0;
+ virtual int checkChange(int cmd) = 0;
+
+ bool isState(int stateEnum){
+ if(_stateNameEnum == stateEnum){
+ return true;
+ }else{
+ return false;
+ }
+ }
+ std::string getStateName(){return _stateNameString;}
+ int getStateNameEnum(){return _stateNameEnum;};
+protected:
+ int _stateNameEnum;
+ std::string _stateNameString;
+};
+
#endif
\ No newline at end of file
diff --git a/include/FSM/FSMState.h b/include/FSM/FSMState.h
index 3fafdeb..7e45a39 100755
--- a/include/FSM/FSMState.h
+++ b/include/FSM/FSMState.h
@@ -1,49 +1,49 @@
-#ifndef FSMSTATE_H
-#define FSMSTATE_H
-
-#include <string>
-#include <iostream>
-#include <unistd.h>
-#include "control/CtrlComponents.h"
-#include "common/math/mathTools.h"
-#include "common/utilities/timer.h"
-#include "FSM/BaseState.h"
-
-class FSMState : public BaseState{
-public:
- FSMState(CtrlComponents *ctrlComp, ArmFSMStateName stateName, std::string stateNameString);
- virtual ~FSMState(){}
-
- virtual void enter() = 0;
- virtual void run() = 0;
- virtual void exit() = 0;
- virtual int checkChange(int cmd) {return (int)ArmFSMStateName::INVALID;}
- bool _collisionTest();
-
-protected:
- void _armCtrl();
- void _recordData();
- Vec6 _postureToVec6(Posture posture);
- void _tauFriction();
-
- LowlevelCmd *_lowCmd;
- LowlevelState *_lowState;
- IOInterface *_ioInter;
- ArmModel *_armModel;
-
- Vec6 _qPast, _qdPast, _q, _qd, _qdd, _tauForward;
- double _gripperPos, _gripperW, _gripperTau;
-
- CtrlComponents *_ctrlComp;
- Vec6 _g, _tauCmd, _tauFric;
-
-private:
-
- uint _collisionCnt;
-
- Vec6 _mLinearFriction;
- Vec6 _mCoulombFriction;
-
-};
-
-#endif // FSMSTATE_H
+#ifndef FSMSTATE_H
+#define FSMSTATE_H
+
+#include <string>
+#include <iostream>
+#include <unistd.h>
+#include "control/CtrlComponents.h"
+#include "common/math/mathTools.h"
+#include "common/utilities/timer.h"
+#include "FSM/BaseState.h"
+
+class FSMState : public BaseState{
+public:
+ FSMState(CtrlComponents *ctrlComp, ArmFSMStateName stateName, std::string stateNameString);
+ virtual ~FSMState(){}
+
+ virtual void enter() = 0;
+ virtual void run() = 0;
+ virtual void exit() = 0;
+ virtual int checkChange(int cmd) {return (int)ArmFSMStateName::INVALID;}
+ bool _collisionTest();
+
+protected:
+ void _armCtrl();
+ void _recordData();
+ Vec6 _postureToVec6(Posture posture);
+ void _tauFriction();
+
+ LowlevelCmd *_lowCmd;
+ LowlevelState *_lowState;
+ IOInterface *_ioInter;
+ ArmModel *_armModel;
+
+ Vec6 _qPast, _qdPast, _q, _qd, _qdd, _tauForward;
+ double _gripperPos, _gripperW, _gripperTau;
+
+ CtrlComponents *_ctrlComp;
+ Vec6 _g, _tauCmd, _tauFric;
+
+private:
+
+ uint _collisionCnt;
+
+ Vec6 _mLinearFriction;
+ Vec6 _mCoulombFriction;
+
+};
+
+#endif // FSMSTATE_H
diff --git a/include/FSM/FiniteStateMachine.h b/include/FSM/FiniteStateMachine.h
index e6d1df7..4fcb3e6 100755
--- a/include/FSM/FiniteStateMachine.h
+++ b/include/FSM/FiniteStateMachine.h
@@ -1,28 +1,28 @@
-#ifndef FSM_H
-#define FSM_H
-
-#include <vector>
-#include "FSM/FSMState.h"
-#include "common/utilities/loop.h"
-#include "control/CtrlComponents.h"
-
-class FiniteStateMachine{
-public:
- FiniteStateMachine(std::vector<FSMState*> states, CtrlComponents *ctrlComp);
- virtual ~FiniteStateMachine();
-
-private:
- void _run();
- std::vector<FSMState*> _states;
-
- FSMMode _mode;
- bool _running;
- FSMState* _currentState;
- FSMState* _nextState;
- int _nextStateEnum;
-
- CtrlComponents *_ctrlComp;
- LoopFunc *_runThread;
-};
-
+#ifndef FSM_H
+#define FSM_H
+
+#include <vector>
+#include "FSM/FSMState.h"
+#include "common/utilities/loop.h"
+#include "control/CtrlComponents.h"
+
+class FiniteStateMachine{
+public:
+ FiniteStateMachine(std::vector<FSMState*> states, CtrlComponents *ctrlComp);
+ virtual ~FiniteStateMachine();
+
+private:
+ void _run();
+ std::vector<FSMState*> _states;
+
+ FSMMode _mode;
+ bool _running;
+ FSMState* _currentState;
+ FSMState* _nextState;
+ int _nextStateEnum;
+
+ CtrlComponents *_ctrlComp;
+ LoopFunc *_runThread;
+};
+
#endif // FSM_H
\ No newline at end of file
diff --git a/include/FSM/State_BackToStart.h b/include/FSM/State_BackToStart.h
index 61f239f..6c811ba 100644
--- a/include/FSM/State_BackToStart.h
+++ b/include/FSM/State_BackToStart.h
@@ -1,22 +1,22 @@
-#ifndef STATE_BACKTOSTART_H
-#define STATE_BACKTOSTART_H
-
-
-#include "FSM/FSMState.h"
-#include "trajectory/JointSpaceTraj.h"
-
-class State_BackToStart : public FSMState{
-public:
- State_BackToStart(CtrlComponents *ctrlComp);
- ~State_BackToStart();
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-private:
- bool _reach, _pastReach;
- JointSpaceTraj *_jointTraj;
- Vec6 _pos_startFlat;
-};
-
+#ifndef STATE_BACKTOSTART_H
+#define STATE_BACKTOSTART_H
+
+
+#include "FSM/FSMState.h"
+#include "trajectory/JointSpaceTraj.h"
+
+class State_BackToStart : public FSMState{
+public:
+ State_BackToStart(CtrlComponents *ctrlComp);
+ ~State_BackToStart();
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+private:
+ bool _reach, _pastReach;
+ JointSpaceTraj *_jointTraj;
+ Vec6 _pos_startFlat;
+};
+
#endif // STATE_BACKTOSTART_H
\ No newline at end of file
diff --git a/include/FSM/State_Calibration.h b/include/FSM/State_Calibration.h
index 4668eb9..87d7404 100644
--- a/include/FSM/State_Calibration.h
+++ b/include/FSM/State_Calibration.h
@@ -1,18 +1,18 @@
-#ifndef STATE_CALIBRATION_H
-#define STATE_CALIBRATION_H
-
-#include "FSM/FSMState.h"
-
-class State_Calibration : public FSMState{
-public:
- State_Calibration(CtrlComponents *ctrlComp);
- ~State_Calibration(){}
- void enter();
- void run(){};
- void exit(){};
- int checkChange(int cmd);
-private:
-
-};
-
+#ifndef STATE_CALIBRATION_H
+#define STATE_CALIBRATION_H
+
+#include "FSM/FSMState.h"
+
+class State_Calibration : public FSMState{
+public:
+ State_Calibration(CtrlComponents *ctrlComp);
+ ~State_Calibration(){}
+ void enter();
+ void run(){};
+ void exit(){};
+ int checkChange(int cmd);
+private:
+
+};
+
#endif // STATE_CALIBRATION_H
\ No newline at end of file
diff --git a/include/FSM/State_Cartesian.h b/include/FSM/State_Cartesian.h
old mode 100755
new mode 100644
diff --git a/include/FSM/State_JointSpace.h b/include/FSM/State_JointSpace.h
index 4b7bbdd..5a421d5 100755
--- a/include/FSM/State_JointSpace.h
+++ b/include/FSM/State_JointSpace.h
@@ -1,18 +1,18 @@
-#ifndef JOINTSPACE_H
-#define JOINTSPACE_H
-
-#include "FSM/FSMState.h"
-
-class State_JointSpace : public FSMState{
-public:
- State_JointSpace(CtrlComponents *ctrlComp);
- ~State_JointSpace(){}
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-private:
- std::vector<double> jointSpeedMax;
-};
-
+#ifndef JOINTSPACE_H
+#define JOINTSPACE_H
+
+#include "FSM/FSMState.h"
+
+class State_JointSpace : public FSMState{
+public:
+ State_JointSpace(CtrlComponents *ctrlComp);
+ ~State_JointSpace(){}
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+private:
+ std::vector<double> jointSpeedMax;
+};
+
#endif // JOINTSPACE_H
\ No newline at end of file
diff --git a/include/FSM/State_LowCmd.h b/include/FSM/State_LowCmd.h
index ce00143..c528e87 100755
--- a/include/FSM/State_LowCmd.h
+++ b/include/FSM/State_LowCmd.h
@@ -1,18 +1,18 @@
-#ifndef LOWCMD_H
-#define LOWCMD_H
-
-#include "FSMState.h"
-
-class State_LowCmd : public FSMState{
-public:
- State_LowCmd(CtrlComponents *ctrlComp);
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-private:
- std::vector<float> _kp;
- std::vector<float> _kw;
-};
-
+#ifndef LOWCMD_H
+#define LOWCMD_H
+
+#include "FSMState.h"
+
+class State_LowCmd : public FSMState{
+public:
+ State_LowCmd(CtrlComponents *ctrlComp);
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+private:
+ std::vector<float> _kp;
+ std::vector<float> _kw;
+};
+
#endif // LOWCMD_H
\ No newline at end of file
diff --git a/include/FSM/State_MoveC.h b/include/FSM/State_MoveC.h
index a226e61..9843ee0 100755
--- a/include/FSM/State_MoveC.h
+++ b/include/FSM/State_MoveC.h
@@ -1,23 +1,23 @@
-#ifndef MOVEC_H
-#define MOVEC_H
-
-#include "FSM/FSMState.h"
-#include "trajectory/EndCircleTraj.h"
-
-class State_MoveC : public FSMState{
-public:
- State_MoveC(CtrlComponents *ctrlComp);
- ~State_MoveC();
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-private:
- double _speed;
- std::vector<Vec6> _postures;
- EndCircleTraj *_circleTraj;
- bool _timeReached, _taskReached, _pastTaskReached, _finalReached;
- uint _taskCnt;
-};
-
+#ifndef MOVEC_H
+#define MOVEC_H
+
+#include "FSM/FSMState.h"
+#include "trajectory/EndCircleTraj.h"
+
+class State_MoveC : public FSMState{
+public:
+ State_MoveC(CtrlComponents *ctrlComp);
+ ~State_MoveC();
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+private:
+ double _speed;
+ std::vector<Vec6> _postures;
+ EndCircleTraj *_circleTraj;
+ bool _timeReached, _taskReached, _pastTaskReached, _finalReached;
+ uint _taskCnt;
+};
+
#endif // CARTESIAN_H
\ No newline at end of file
diff --git a/include/FSM/State_MoveJ.h b/include/FSM/State_MoveJ.h
old mode 100755
new mode 100644
diff --git a/include/FSM/State_MoveL.h b/include/FSM/State_MoveL.h
old mode 100755
new mode 100644
diff --git a/include/FSM/State_Passive.h b/include/FSM/State_Passive.h
index b4c4306..b3702d2 100755
--- a/include/FSM/State_Passive.h
+++ b/include/FSM/State_Passive.h
@@ -1,15 +1,15 @@
-#ifndef PASSIVE_H
-#define PASSIVE_H
-
-#include "FSM/FSMState.h"
-
-class State_Passive : public FSMState{
-public:
- State_Passive(CtrlComponents *ctrlComp);
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-};
-
+#ifndef PASSIVE_H
+#define PASSIVE_H
+
+#include "FSM/FSMState.h"
+
+class State_Passive : public FSMState{
+public:
+ State_Passive(CtrlComponents *ctrlComp);
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+};
+
#endif // PASSIVE_H
\ No newline at end of file
diff --git a/include/FSM/State_SaveState.h b/include/FSM/State_SaveState.h
index 5393fc7..412bc71 100755
--- a/include/FSM/State_SaveState.h
+++ b/include/FSM/State_SaveState.h
@@ -1,18 +1,18 @@
-#ifndef SAVESTATE_H
-#define SAVESTATE_H
-
-#include "FSMState.h"
-#include "common/utilities/CSVTool.h"
-
-class State_SaveState : public FSMState{
-public:
- State_SaveState(CtrlComponents *ctrlComp);
- ~State_SaveState();
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-private:
-};
-
+#ifndef SAVESTATE_H
+#define SAVESTATE_H
+
+#include "FSMState.h"
+#include "common/utilities/CSVTool.h"
+
+class State_SaveState : public FSMState{
+public:
+ State_SaveState(CtrlComponents *ctrlComp);
+ ~State_SaveState();
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+private:
+};
+
#endif // SAVESTATE_H
\ No newline at end of file
diff --git a/include/FSM/State_Teach.h b/include/FSM/State_Teach.h
index 0bfcbb9..d4cb058 100755
--- a/include/FSM/State_Teach.h
+++ b/include/FSM/State_Teach.h
@@ -1,24 +1,24 @@
-#ifndef STATETEACH_H
-#define STATETEACH_H
-
-#include "FSM/FSMState.h"
-
-class State_Teach : public FSMState{
-public:
- State_Teach(CtrlComponents *ctrlComp);
- ~State_Teach();
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-private:
- CSVTool *_trajCSV;
- size_t _stateID = 0;
-
- Vec6 _KdDiag;
- Vec6 _kpForStable;
- Mat6 _Kd;
- double _errorBias;
-};
-
+#ifndef STATETEACH_H
+#define STATETEACH_H
+
+#include "FSM/FSMState.h"
+
+class State_Teach : public FSMState{
+public:
+ State_Teach(CtrlComponents *ctrlComp);
+ ~State_Teach();
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+private:
+ CSVTool *_trajCSV;
+ size_t _stateID = 0;
+
+ Vec6 _KdDiag;
+ Vec6 _kpForStable;
+ Mat6 _Kd;
+ double _errorBias;
+};
+
#endif // STATETEACH_H
\ No newline at end of file
diff --git a/include/FSM/State_TeachRepeat.h b/include/FSM/State_TeachRepeat.h
index e79802e..9d816bf 100755
--- a/include/FSM/State_TeachRepeat.h
+++ b/include/FSM/State_TeachRepeat.h
@@ -1,28 +1,28 @@
-#ifndef STATE_TEACHREPEAT_H
-#define STATE_TEACHREPEAT_H
-
-#include "FSM/FSMState.h"
-#include "trajectory/TrajectoryManager.h"
-
-class State_TeachRepeat : public FSMState{
-public:
- State_TeachRepeat(CtrlComponents *ctrlComp);
- ~State_TeachRepeat();
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-private:
- bool _setCorrectly;
- JointSpaceTraj *_toStartTraj;
- bool _reachedStart = false;
- bool _finishedRepeat = false;
- size_t _index = 0;
- size_t _indexPast;
- Vec6 _trajStartQ, _trajStartQd;
- double _trajStartGripperQ, _trajStartGripperQd;
-
- CSVTool *_csvFile;
-};
-
+#ifndef STATE_TEACHREPEAT_H
+#define STATE_TEACHREPEAT_H
+
+#include "FSM/FSMState.h"
+#include "trajectory/TrajectoryManager.h"
+
+class State_TeachRepeat : public FSMState{
+public:
+ State_TeachRepeat(CtrlComponents *ctrlComp);
+ ~State_TeachRepeat();
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+private:
+ bool _setCorrectly;
+ JointSpaceTraj *_toStartTraj;
+ bool _reachedStart = false;
+ bool _finishedRepeat = false;
+ size_t _index = 0;
+ size_t _indexPast;
+ Vec6 _trajStartQ, _trajStartQd;
+ double _trajStartGripperQ, _trajStartGripperQd;
+
+ CSVTool *_csvFile;
+};
+
#endif // STATE_TEACHREPEAT_H
\ No newline at end of file
diff --git a/include/FSM/State_ToState.h b/include/FSM/State_ToState.h
index 066ceb3..e063f77 100755
--- a/include/FSM/State_ToState.h
+++ b/include/FSM/State_ToState.h
@@ -1,24 +1,24 @@
-#ifndef TOSTATE_H
-#define TOSTATE_H
-
-#include "FSM/FSMState.h"
-#include "trajectory/JointSpaceTraj.h"
-
-class State_ToState : public FSMState{
-public:
- State_ToState(CtrlComponents *ctrlComp);
- ~State_ToState();
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-private:
- bool _setCorrectly;
- double _costTime;
- HomoMat _goalHomo;
- JointSpaceTraj *_jointTraj;
- bool _reach, _pastReach;
- std::string _goalName;
-};
-
+#ifndef TOSTATE_H
+#define TOSTATE_H
+
+#include "FSM/FSMState.h"
+#include "trajectory/JointSpaceTraj.h"
+
+class State_ToState : public FSMState{
+public:
+ State_ToState(CtrlComponents *ctrlComp);
+ ~State_ToState();
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+private:
+ bool _setCorrectly;
+ double _costTime;
+ HomoMat _goalHomo;
+ JointSpaceTraj *_jointTraj;
+ bool _reach, _pastReach;
+ std::string _goalName;
+};
+
#endif // TOSTATE_H
\ No newline at end of file
diff --git a/include/FSM/State_Trajectory.h b/include/FSM/State_Trajectory.h
index 9955df9..a5da191 100755
--- a/include/FSM/State_Trajectory.h
+++ b/include/FSM/State_Trajectory.h
@@ -1,37 +1,37 @@
-#ifndef CARTESIANPATH_H
-#define CARTESIANPATH_H
-
-#include "FSM/FSMState.h"
-#include "trajectory/TrajectoryManager.h"
-
-class State_Trajectory : public FSMState{
-public:
- State_Trajectory(CtrlComponents *ctrlComp,
- ArmFSMStateName stateEnum = ArmFSMStateName::TRAJECTORY,
- std::string stateString = "trajectory");
- ~State_Trajectory();
- void enter();
- void run();
- void exit();
- int checkChange(int cmd);
-protected:
- void _setTraj();
-
- TrajectoryManager *_traj;
- HomoMat _goalHomo;
- Vec6 _goalTwist;
- double speedTemp;
-
- JointSpaceTraj *_toStartTraj;
- bool _reachedStart = false;
- bool _finishedTraj = false;
- std::vector<JointSpaceTraj*> _jointTraj;
- std::vector<EndCircleTraj*> _circleTraj;
- std::vector<StopForTime*> _stopTraj;
- std::vector<EndLineTraj*> _lineTraj;
-
- static std::vector<TrajCmd> _trajCmd;
- Vec6 _posture[2];
-};
-
+#ifndef CARTESIANPATH_H
+#define CARTESIANPATH_H
+
+#include "FSM/FSMState.h"
+#include "trajectory/TrajectoryManager.h"
+
+class State_Trajectory : public FSMState{
+public:
+ State_Trajectory(CtrlComponents *ctrlComp,
+ ArmFSMStateName stateEnum = ArmFSMStateName::TRAJECTORY,
+ std::string stateString = "trajectory");
+ ~State_Trajectory();
+ void enter();
+ void run();
+ void exit();
+ int checkChange(int cmd);
+protected:
+ void _setTraj();
+
+ TrajectoryManager *_traj;
+ HomoMat _goalHomo;
+ Vec6 _goalTwist;
+ double speedTemp;
+
+ JointSpaceTraj *_toStartTraj;
+ bool _reachedStart = false;
+ bool _finishedTraj = false;
+ std::vector<JointSpaceTraj*> _jointTraj;
+ std::vector<EndCircleTraj*> _circleTraj;
+ std::vector<StopForTime*> _stopTraj;
+ std::vector<EndLineTraj*> _lineTraj;
+
+ static std::vector<TrajCmd> _trajCmd;
+ Vec6 _posture[2];
+};
+
#endif // CARTESIANPATH_H
\ No newline at end of file
diff --git a/include/common/enumClass.h b/include/common/enumClass.h
index a48e186..754a835 100755
--- a/include/common/enumClass.h
+++ b/include/common/enumClass.h
@@ -1,39 +1,39 @@
-#ifndef ENUMCLASS_H
-#define ENUMCLASS_H
-
-enum class FSMMode{
- NORMAL,
- CHANGE
-};
-
-enum class ArmFSMStateName{
- INVALID,
- PASSIVE,
- JOINTCTRL,
- CARTESIAN,
- MOVEJ,
- MOVEL,
- MOVEC,
- TRAJECTORY,
- TOSTATE,
- SAVESTATE,
- TEACH,
- TEACHREPEAT,
- CALIBRATION,
- SETTRAJ,//no longer used
- BACKTOSTART,
- NEXT,
- LOWCMD
-};
-
-enum class JointMotorType{
- SINGLE_MOTOR,
- DOUBLE_MOTOR
-};
-
-enum class Control{
- KEYBOARD,
- SDK
-};
-
+#ifndef ENUMCLASS_H
+#define ENUMCLASS_H
+
+enum class FSMMode{
+ NORMAL,
+ CHANGE
+};
+
+enum class ArmFSMStateName{
+ INVALID,
+ PASSIVE,
+ JOINTCTRL,
+ CARTESIAN,
+ MOVEJ,
+ MOVEL,
+ MOVEC,
+ TRAJECTORY,
+ TOSTATE,
+ SAVESTATE,
+ TEACH,
+ TEACHREPEAT,
+ CALIBRATION,
+ SETTRAJ,//no longer used
+ BACKTOSTART,
+ NEXT,
+ LOWCMD
+};
+
+enum class JointMotorType{
+ SINGLE_MOTOR,
+ DOUBLE_MOTOR
+};
+
+enum class Control{
+ KEYBOARD,
+ SDK
+};
+
#endif // ENUMCLASS_H
\ No newline at end of file
diff --git a/include/common/math/Filter.h b/include/common/math/Filter.h
old mode 100644
new mode 100755
index ec421da..c5bebe3
--- a/include/common/math/Filter.h
+++ b/include/common/math/Filter.h
@@ -1,29 +1,29 @@
-#ifndef FILTER
-#define FILTER
-
-#include <vector>
-#include <Eigen/Dense>
-
-/*
- Low pass filter
-*/
-class LPFilter{
-public:
- LPFilter(double samplePeriod, double cutFrequency, size_t valueCount);
- ~LPFilter(){};
- void clear();
- void addValue(double &newValue);
- void addValue(std::vector<double> &vec);
-
- template <typename T>
- void addValue(Eigen::MatrixBase<T> &eigenVec);
-
- // double getValue();
-private:
- size_t _valueCount;
- double _weight;
- std::vector<double> _pastValue;
- bool _start;
-};
-
+#ifndef FILTER
+#define FILTER
+
+#include <vector>
+#include <Eigen/Dense>
+
+/*
+ Low pass filter
+*/
+class LPFilter{
+public:
+ LPFilter(double samplePeriod, double cutFrequency, size_t valueCount);
+ ~LPFilter(){};
+ void clear();
+ void addValue(double &newValue);
+ void addValue(std::vector<double> &vec);
+
+ template <typename T>
+ void addValue(Eigen::MatrixBase<T> &eigenVec);
+
+ // double getValue();
+private:
+ size_t _valueCount;
+ double _weight;
+ std::vector<double> _pastValue;
+ bool _start;
+};
+
#endif // FILTER
\ No newline at end of file
diff --git a/include/common/math/mathTypes.h b/include/common/math/mathTypes.h
index b74c7d7..08ca8a6 100755
--- a/include/common/math/mathTypes.h
+++ b/include/common/math/mathTypes.h
@@ -1,109 +1,109 @@
-#ifndef MATHTYPES_H
-#define MATHTYPES_H
-
-#include <eigen3/Eigen/Dense>
-#include <vector>
-
-/************************/
-/******** Vector ********/
-/************************/
-// 2x1 Vector
-using Vec2 = typename Eigen::Matrix<double, 2, 1>;
-
-// 3x1 Vector
-using Vec3 = typename Eigen::Matrix<double, 3, 1>;
-
-// 4x1 Vector
-using Vec4 = typename Eigen::Matrix<double, 4, 1>;
-
-// 6x1 Vector
-using Vec6 = typename Eigen::Matrix<double, 6, 1>;
-
-// Quaternion
-using Quat = typename Eigen::Matrix<double, 4, 1>;
-
-// 4x1 Integer Vector
-using VecInt4 = typename Eigen::Matrix<int, 4, 1>;
-
-// 12x1 Vector
-using Vec12 = typename Eigen::Matrix<double, 12, 1>;
-
-// 18x1 Vector
-using Vec18 = typename Eigen::Matrix<double, 18, 1>;
-
-// Dynamic Length Vector
-using VecX = typename Eigen::Matrix<double, Eigen::Dynamic, 1>;
-
-/************************/
-/******** Matrix ********/
-/************************/
-// Rotation Matrix
-using RotMat = typename Eigen::Matrix<double, 3, 3>;
-
-// Homogenous Matrix
-using HomoMat = typename Eigen::Matrix<double, 4, 4>;
-
-// 2x2 Matrix
-using Mat2 = typename Eigen::Matrix<double, 2, 2>;
-
-// 3x3 Matrix
-using Mat3 = typename Eigen::Matrix<double, 3, 3>;
-
-// 3x4 Matrix, each column is a 3x1 vector
-using Vec34 = typename Eigen::Matrix<double, 3, 4>;
-
-// 6x6 Matrix
-using Mat6 = typename Eigen::Matrix<double, 6, 6>;
-
-// 12x12 Matrix
-using Mat12 = typename Eigen::Matrix<double, 12, 12>;
-
-// 3x3 Identity Matrix
-#define I3 Eigen::MatrixXd::Identity(3, 3)
-
-// 6x6 Identity Matrix
-#define I6 Eigen::MatrixXd::Identity(6, 6)
-
-// 12x12 Identity Matrix
-#define I12 Eigen::MatrixXd::Identity(12, 12)
-
-// 18x18 Identity Matrix
-#define I18 Eigen::MatrixXd::Identity(18, 18)
-
-// Dynamic Size Matrix
-using MatX = typename Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>;
-
-/************************/
-/****** Functions *******/
-/************************/
-inline Vec34 vec12ToVec34(Vec12 vec12){
- Vec34 vec34;
- for(int i(0); i < 4; ++i){
- vec34.col(i) = vec12.segment(3*i, 3);
- }
- return vec34;
-}
-
-inline Vec12 vec34ToVec12(Vec34 vec34){
- Vec12 vec12;
- for(int i(0); i < 4; ++i){
- vec12.segment(3*i, 3) = vec34.col(i);
- }
- return vec12;
-}
-
-template<typename T>
-inline VecX stdVecToEigenVec(T stdVec){
- VecX eigenVec = Eigen::VectorXd::Map(&stdVec[0], stdVec.size());
- return eigenVec;
-}
-
-inline std::vector<double> EigenVectostdVec(VecX eigenVec){
- std::vector<double> stdVec;
- for(int i(0); i<eigenVec.size();i++){
- stdVec.push_back(eigenVec(i));
- }
- return stdVec;
-}
-
+#ifndef MATHTYPES_H
+#define MATHTYPES_H
+
+#include <eigen3/Eigen/Dense>
+#include <vector>
+
+/************************/
+/******** Vector ********/
+/************************/
+// 2x1 Vector
+using Vec2 = typename Eigen::Matrix<double, 2, 1>;
+
+// 3x1 Vector
+using Vec3 = typename Eigen::Matrix<double, 3, 1>;
+
+// 4x1 Vector
+using Vec4 = typename Eigen::Matrix<double, 4, 1>;
+
+// 6x1 Vector
+using Vec6 = typename Eigen::Matrix<double, 6, 1>;
+
+// Quaternion
+using Quat = typename Eigen::Matrix<double, 4, 1>;
+
+// 4x1 Integer Vector
+using VecInt4 = typename Eigen::Matrix<int, 4, 1>;
+
+// 12x1 Vector
+using Vec12 = typename Eigen::Matrix<double, 12, 1>;
+
+// 18x1 Vector
+using Vec18 = typename Eigen::Matrix<double, 18, 1>;
+
+// Dynamic Length Vector
+using VecX = typename Eigen::Matrix<double, Eigen::Dynamic, 1>;
+
+/************************/
+/******** Matrix ********/
+/************************/
+// Rotation Matrix
+using RotMat = typename Eigen::Matrix<double, 3, 3>;
+
+// Homogenous Matrix
+using HomoMat = typename Eigen::Matrix<double, 4, 4>;
+
+// 2x2 Matrix
+using Mat2 = typename Eigen::Matrix<double, 2, 2>;
+
+// 3x3 Matrix
+using Mat3 = typename Eigen::Matrix<double, 3, 3>;
+
+// 3x4 Matrix, each column is a 3x1 vector
+using Vec34 = typename Eigen::Matrix<double, 3, 4>;
+
+// 6x6 Matrix
+using Mat6 = typename Eigen::Matrix<double, 6, 6>;
+
+// 12x12 Matrix
+using Mat12 = typename Eigen::Matrix<double, 12, 12>;
+
+// 3x3 Identity Matrix
+#define I3 Eigen::MatrixXd::Identity(3, 3)
+
+// 6x6 Identity Matrix
+#define I6 Eigen::MatrixXd::Identity(6, 6)
+
+// 12x12 Identity Matrix
+#define I12 Eigen::MatrixXd::Identity(12, 12)
+
+// 18x18 Identity Matrix
+#define I18 Eigen::MatrixXd::Identity(18, 18)
+
+// Dynamic Size Matrix
+using MatX = typename Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>;
+
+/************************/
+/****** Functions *******/
+/************************/
+inline Vec34 vec12ToVec34(Vec12 vec12){
+ Vec34 vec34;
+ for(int i(0); i < 4; ++i){
+ vec34.col(i) = vec12.segment(3*i, 3);
+ }
+ return vec34;
+}
+
+inline Vec12 vec34ToVec12(Vec34 vec34){
+ Vec12 vec12;
+ for(int i(0); i < 4; ++i){
+ vec12.segment(3*i, 3) = vec34.col(i);
+ }
+ return vec12;
+}
+
+template<typename T>
+inline VecX stdVecToEigenVec(T stdVec){
+ VecX eigenVec = Eigen::VectorXd::Map(&stdVec[0], stdVec.size());
+ return eigenVec;
+}
+
+inline std::vector<double> EigenVectostdVec(VecX eigenVec){
+ std::vector<double> stdVec;
+ for(int i(0); i<eigenVec.size();i++){
+ stdVec.push_back(eigenVec(i));
+ }
+ return stdVec;
+}
+
#endif // MATHTYPES_H
\ No newline at end of file
diff --git a/include/common/utilities/CSVTool.h b/include/common/utilities/CSVTool.h
index 456a182..f967d44 100755
--- a/include/common/utilities/CSVTool.h
+++ b/include/common/utilities/CSVTool.h
@@ -1,246 +1,246 @@
-#ifndef CSVTOOL_H
-#define CSVTOOL_H
-
-/*
- personal tool for .csv reading and modifying.
- only suitable for small .csv file.
- for large .csv, try <https://github.com/ben-strasser/fast-cpp-csv-parser> (read only)
- */
-#include <string>
-#include <vector>
-#include <map>
-#include <fstream>
-#include <sstream>
-#include <iostream>
-#include <iomanip>
-#include <algorithm>
-#include "common/utilities/typeTrans.h"
-
-enum class FileType{
- READ_WRITE,
- CLEAR_DUMP
-};
-
-class CSVLine{
-public:
- // CSVLine(std::string lineTemp, std::streampos filePos);
- CSVLine(std::string lineTemp);
- CSVLine(std::string label, std::vector<double> values);
- ~CSVLine(){}
-
- // void updateFilePos(std::streampos filePos){_filePos = filePos;}
- void getValues(std::vector<double> &values);
- void changeValue(std::vector<double> values);
- void writeAtEnd(std::fstream &ioStream);
- std::string getLabel(){return _label;}
-
-private:
- // std::streampos _filePos;
- std::string _label;
- std::vector<double> _values;
-};
-
-/*
-FileType::READ_WRITE : must already exist such fileName
-FileType::CLEAR_DUMP : if do not exist such file, will create one
-*/
-class CSVTool{
-public:
- CSVTool(std::string fileName, FileType type = FileType::READ_WRITE, int precision = 6);
- ~CSVTool(){_ioStream.close();}
-
- bool getLine(std::string label, std::vector<double> &values);
- template<typename... Args>
- bool getLineDirect(std::string label, Args&... values);
-
- void modifyLine(std::string label, std::vector<double> &values, bool addNew);
- template<typename... Args>
- void modifyLineDirect(std::string label, bool addNew, Args&... values);
-
- void readFile();
- void saveFile();
-
- bool _hasFile;
-private:
- std::string _fileName;
- std::fstream _ioStream;
- int _precision;
- std::string _lineTemp;
- std::map<std::string, size_t> _labels;
- std::vector<CSVLine*> _lines;
-
-};
-
-/*************************/
-/* CSVLine */
-/*************************/
-// CSVLine::CSVLine(std::string lineTemp, std::streampos filePos)
-// :_filePos(filePos){
-
-// // std::cout << lineTemp << std::endl;
-// }
-
-inline CSVLine::CSVLine(std::string lineTemp){
- // delete all spaces
- lineTemp.erase(std::remove(lineTemp.begin(), lineTemp.end(), ' '), lineTemp.end());
-
- std::stringstream ss(lineTemp);
- std::string stringTemp;
-
- std::getline(ss, _label, ',');
-
- while(std::getline(ss, stringTemp, ',')){
- _values.push_back(stod(stringTemp));
- }
-
- // std::cout << "**********" << std::endl;
- // std::cout << "_label: " << _label << std::fixed << std::setprecision(3) << std::endl;
- // for(int i(0); i<_values.size(); ++i){
- // std::cout << _values.at(i) << ",,, ";
- // }
- // std::cout << std::endl;
-}
-
-inline CSVLine::CSVLine(std::string label, std::vector<double> values)
- :_label(label), _values(values){
-
-}
-
-inline void CSVLine::changeValue(std::vector<double> values){
- if(values.size() != _values.size()){
- std::cout << "[WARNING] CSVLine::changeValue, the size changed" << std::endl;
- }
- _values = values;
-}
-
-inline void CSVLine::getValues(std::vector<double> &values){
- values = _values;
-}
-
-inline void CSVLine::writeAtEnd(std::fstream &ioStream){
- ioStream << _label << ", ";
-
- for(int i(0); i<_values.size(); ++i){
- ioStream << _values.at(i) << ", ";
- }
-
- ioStream << std::endl;
-}
-
-
-/*************************/
-/* CSVTool */
-/*************************/
-inline CSVTool::CSVTool(std::string fileName, FileType type, int precision)
- : _fileName(fileName), _precision(precision){
-
- if(type == FileType::READ_WRITE){
- _ioStream.open(_fileName, std::fstream::ate | std::fstream::in | std::fstream::out);
-
- if(!_ioStream.is_open()){
- std::cout << "[ERROR] CSVTool open file: " << fileName << " failed!" << std::endl;
- // exit(-1);
- _hasFile = false;
- }else{
- readFile();
- _hasFile = true;
- }
-
- }
- else if(type == FileType::CLEAR_DUMP){
- _ioStream.open(_fileName, std::fstream::out);
- }
-
-}
-
-inline void CSVTool::readFile(){
- if(!_ioStream.is_open()){
- // _ioStream.open(_fileName, std::fstream::ate | std::fstream::in | std::fstream::out);
- std::cout << "[ERROR] CSVTool::readFile, file: " << _fileName << " has not been opened!" << std::endl;
- return;
- }
-
- _lines.clear();
- _labels.clear();
-
- _ioStream.seekg(0, std::fstream::beg);
- size_t lineNum = 0;
- while(_ioStream && _ioStream.tellg() != std::fstream::end && getline(_ioStream, _lineTemp)){
- _lines.push_back( new CSVLine(_lineTemp) );
-
- if(_labels.count(_lines.at(lineNum)->getLabel()) == 0){
- _labels.insert(std::pair<std::string, size_t>(_lines.at(lineNum)->getLabel(), lineNum));
- ++lineNum;
- }else{
- std::cout << "[ERROR] CSVTool::readFile, the label "
- << _lines.at(lineNum)->getLabel() << " is repeated" << std::endl;
- exit(-1);
- }
- }
-}
-
-inline bool CSVTool::getLine(std::string label, std::vector<double> &values){
- if(_labels.count(label) == 0){
- std::cout << "[ERROR] No such label: " << label << std::endl;
- return false;
- }else{
- _lines.at(_labels[label])->getValues(values);
- return true;
- }
-}
-
-template<typename... Args>
-inline bool CSVTool::getLineDirect(std::string label, Args&... values){
- std::vector<double> vec;
- if(getLine(label, vec)){
- typeTrans::extractVector(vec, values...);
- return true;
- }else{
- return false;
- }
-}
-
-template<typename... Args>
-inline void CSVTool::modifyLineDirect(std::string label, bool addNew, Args&... values){
- std::vector<double> vec;
- typeTrans::combineToVector(vec, values...);
-
-// std::cout << "CSVTool::modifyLineDirect------" << std::endl;
-// std::cout << "label: " << label << std::endl;
-// std::cout << "vec: ";
-// for(int i(0); i<vec.size(); ++i){
-// std::cout << vec.at(i) << ", ";
-// }std::cout << std::endl;
-
- modifyLine(label, vec, addNew);
-}
-
-
-inline void CSVTool::saveFile(){
- _ioStream.close();
- _ioStream.open(_fileName, std::fstream::out);
- _ioStream << std::fixed << std::setprecision(_precision);
- for(int i(0); i<_lines.size(); ++i){
- _lines.at(i)->writeAtEnd(_ioStream);
- }
-
- _ioStream.close();
- _ioStream.open(_fileName, std::fstream::ate | std::fstream::in | std::fstream::out);
-}
-
-inline void CSVTool::modifyLine(std::string label, std::vector<double> &values, bool addNew =false){
- if(_labels.count(label) == 0){
- if(addNew){
- _labels.insert(std::pair<std::string, size_t>(label, _labels.size()));
- _lines.push_back(new CSVLine(label, values));
- }else{
- std::cout << "[ERROR] CSVTool::modifyLine, label " << label << "does not exist" << std::endl;
- exit(-1);
- }
- }else{
- _lines.at(_labels[label])->changeValue(values);
- }
-}
-
-
+#ifndef CSVTOOL_H
+#define CSVTOOL_H
+
+/*
+ personal tool for .csv reading and modifying.
+ only suitable for small .csv file.
+ for large .csv, try <https://github.com/ben-strasser/fast-cpp-csv-parser> (read only)
+ */
+#include <string>
+#include <vector>
+#include <map>
+#include <fstream>
+#include <sstream>
+#include <iostream>
+#include <iomanip>
+#include <algorithm>
+#include "common/utilities/typeTrans.h"
+
+enum class FileType{
+ READ_WRITE,
+ CLEAR_DUMP
+};
+
+class CSVLine{
+public:
+ // CSVLine(std::string lineTemp, std::streampos filePos);
+ CSVLine(std::string lineTemp);
+ CSVLine(std::string label, std::vector<double> values);
+ ~CSVLine(){}
+
+ // void updateFilePos(std::streampos filePos){_filePos = filePos;}
+ void getValues(std::vector<double> &values);
+ void changeValue(std::vector<double> values);
+ void writeAtEnd(std::fstream &ioStream);
+ std::string getLabel(){return _label;}
+
+private:
+ // std::streampos _filePos;
+ std::string _label;
+ std::vector<double> _values;
+};
+
+/*
+FileType::READ_WRITE : must already exist such fileName
+FileType::CLEAR_DUMP : if do not exist such file, will create one
+*/
+class CSVTool{
+public:
+ CSVTool(std::string fileName, FileType type = FileType::READ_WRITE, int precision = 6);
+ ~CSVTool(){_ioStream.close();}
+
+ bool getLine(std::string label, std::vector<double> &values);
+ template<typename... Args>
+ bool getLineDirect(std::string label, Args&... values);
+
+ void modifyLine(std::string label, std::vector<double> &values, bool addNew);
+ template<typename... Args>
+ void modifyLineDirect(std::string label, bool addNew, Args&... values);
+
+ void readFile();
+ void saveFile();
+
+ bool _hasFile;
+private:
+ std::string _fileName;
+ std::fstream _ioStream;
+ int _precision;
+ std::string _lineTemp;
+ std::map<std::string, size_t> _labels;
+ std::vector<CSVLine*> _lines;
+
+};
+
+/*************************/
+/* CSVLine */
+/*************************/
+// CSVLine::CSVLine(std::string lineTemp, std::streampos filePos)
+// :_filePos(filePos){
+
+// // std::cout << lineTemp << std::endl;
+// }
+
+inline CSVLine::CSVLine(std::string lineTemp){
+ // delete all spaces
+ lineTemp.erase(std::remove(lineTemp.begin(), lineTemp.end(), ' '), lineTemp.end());
+
+ std::stringstream ss(lineTemp);
+ std::string stringTemp;
+
+ std::getline(ss, _label, ',');
+
+ while(std::getline(ss, stringTemp, ',')){
+ _values.push_back(stod(stringTemp));
+ }
+
+ // std::cout << "**********" << std::endl;
+ // std::cout << "_label: " << _label << std::fixed << std::setprecision(3) << std::endl;
+ // for(int i(0); i<_values.size(); ++i){
+ // std::cout << _values.at(i) << ",,, ";
+ // }
+ // std::cout << std::endl;
+}
+
+inline CSVLine::CSVLine(std::string label, std::vector<double> values)
+ :_label(label), _values(values){
+
+}
+
+inline void CSVLine::changeValue(std::vector<double> values){
+ if(values.size() != _values.size()){
+ std::cout << "[WARNING] CSVLine::changeValue, the size changed" << std::endl;
+ }
+ _values = values;
+}
+
+inline void CSVLine::getValues(std::vector<double> &values){
+ values = _values;
+}
+
+inline void CSVLine::writeAtEnd(std::fstream &ioStream){
+ ioStream << _label << ", ";
+
+ for(int i(0); i<_values.size(); ++i){
+ ioStream << _values.at(i) << ", ";
+ }
+
+ ioStream << std::endl;
+}
+
+
+/*************************/
+/* CSVTool */
+/*************************/
+inline CSVTool::CSVTool(std::string fileName, FileType type, int precision)
+ : _fileName(fileName), _precision(precision){
+
+ if(type == FileType::READ_WRITE){
+ _ioStream.open(_fileName, std::fstream::ate | std::fstream::in | std::fstream::out);
+
+ if(!_ioStream.is_open()){
+ std::cout << "[ERROR] CSVTool open file: " << fileName << " failed!" << std::endl;
+ // exit(-1);
+ _hasFile = false;
+ }else{
+ readFile();
+ _hasFile = true;
+ }
+
+ }
+ else if(type == FileType::CLEAR_DUMP){
+ _ioStream.open(_fileName, std::fstream::out);
+ }
+
+}
+
+inline void CSVTool::readFile(){
+ if(!_ioStream.is_open()){
+ // _ioStream.open(_fileName, std::fstream::ate | std::fstream::in | std::fstream::out);
+ std::cout << "[ERROR] CSVTool::readFile, file: " << _fileName << " has not been opened!" << std::endl;
+ return;
+ }
+
+ _lines.clear();
+ _labels.clear();
+
+ _ioStream.seekg(0, std::fstream::beg);
+ size_t lineNum = 0;
+ while(_ioStream && _ioStream.tellg() != std::fstream::end && getline(_ioStream, _lineTemp)){
+ _lines.push_back( new CSVLine(_lineTemp) );
+
+ if(_labels.count(_lines.at(lineNum)->getLabel()) == 0){
+ _labels.insert(std::pair<std::string, size_t>(_lines.at(lineNum)->getLabel(), lineNum));
+ ++lineNum;
+ }else{
+ std::cout << "[ERROR] CSVTool::readFile, the label "
+ << _lines.at(lineNum)->getLabel() << " is repeated" << std::endl;
+ exit(-1);
+ }
+ }
+}
+
+inline bool CSVTool::getLine(std::string label, std::vector<double> &values){
+ if(_labels.count(label) == 0){
+ std::cout << "[ERROR] No such label: " << label << std::endl;
+ return false;
+ }else{
+ _lines.at(_labels[label])->getValues(values);
+ return true;
+ }
+}
+
+template<typename... Args>
+inline bool CSVTool::getLineDirect(std::string label, Args&... values){
+ std::vector<double> vec;
+ if(getLine(label, vec)){
+ typeTrans::extractVector(vec, values...);
+ return true;
+ }else{
+ return false;
+ }
+}
+
+template<typename... Args>
+inline void CSVTool::modifyLineDirect(std::string label, bool addNew, Args&... values){
+ std::vector<double> vec;
+ typeTrans::combineToVector(vec, values...);
+
+// std::cout << "CSVTool::modifyLineDirect------" << std::endl;
+// std::cout << "label: " << label << std::endl;
+// std::cout << "vec: ";
+// for(int i(0); i<vec.size(); ++i){
+// std::cout << vec.at(i) << ", ";
+// }std::cout << std::endl;
+
+ modifyLine(label, vec, addNew);
+}
+
+
+inline void CSVTool::saveFile(){
+ _ioStream.close();
+ _ioStream.open(_fileName, std::fstream::out);
+ _ioStream << std::fixed << std::setprecision(_precision);
+ for(int i(0); i<_lines.size(); ++i){
+ _lines.at(i)->writeAtEnd(_ioStream);
+ }
+
+ _ioStream.close();
+ _ioStream.open(_fileName, std::fstream::ate | std::fstream::in | std::fstream::out);
+}
+
+inline void CSVTool::modifyLine(std::string label, std::vector<double> &values, bool addNew =false){
+ if(_labels.count(label) == 0){
+ if(addNew){
+ _labels.insert(std::pair<std::string, size_t>(label, _labels.size()));
+ _lines.push_back(new CSVLine(label, values));
+ }else{
+ std::cout << "[ERROR] CSVTool::modifyLine, label " << label << "does not exist" << std::endl;
+ exit(-1);
+ }
+ }else{
+ _lines.at(_labels[label])->changeValue(values);
+ }
+}
+
+
#endif // CSVTOOL_H
\ No newline at end of file
diff --git a/include/common/utilities/loop.h b/include/common/utilities/loop.h
old mode 100644
new mode 100755
diff --git a/include/common/utilities/typeTrans.h b/include/common/utilities/typeTrans.h
index 0f422e8..8096676 100755
--- a/include/common/utilities/typeTrans.h
+++ b/include/common/utilities/typeTrans.h
@@ -1,75 +1,75 @@
-#ifndef TYPETRANS_H
-#define TYPETRANS_H
-
-#include <iostream>
-#include <vector>
-#include <Eigen/Dense>
-
-namespace typeTrans{
-
-inline void addValue(std::vector<double> &vec, double value){
- vec.push_back(value);
-}
-
-inline double getValue(std::vector<double> &vec, double value){
- value = vec.at(0);
- std::vector<double>::iterator begin = vec.begin();
- vec.erase(begin);
-
- return value;
-}
-
-inline void addValue(std::vector<double> &vec, Eigen::MatrixXd value){
- for(int i(0); i<value.rows(); ++i){
- for(int j(0); j<value.cols(); ++j){
- vec.push_back(value(i, j));
- }
- }
-}
-
-inline Eigen::MatrixXd getValue(std::vector<double> &vec, Eigen::MatrixXd value){
- std::vector<double>::iterator begin = vec.begin();
- std::vector<double>::iterator end = begin;
-
- for(int i(0); i<value.rows(); ++i){
- for(int j(0); j<value.cols(); ++j){
- value(i, j) = *end;
- ++end;
- }
- }
-
- vec.erase(begin, end);
-
- return value;
-}
-
-/* combine different type variables to vector */
-template<typename T>
-inline void combineToVector(std::vector<double> &vec, T value){
- addValue(vec, value);
-}
-
-template<typename T, typename... Args>
-inline void combineToVector(std::vector<double> &vec, const T t, const Args... rest){
- combineToVector(vec, t);
-
- combineToVector(vec, rest...);
-}
-
-
-/* extract different type variables from vector */
-template<typename T>
-inline void extractVector(std::vector<double> &vec, T &value){
- value = getValue(vec, value);
-}
-
-template<typename T, typename... Args>
-inline void extractVector(std::vector<double> &vec, T &t, Args&... rest){
- extractVector(vec, t);
-
- extractVector(vec, rest...);
-}
-
-}
-
+#ifndef TYPETRANS_H
+#define TYPETRANS_H
+
+#include <iostream>
+#include <vector>
+#include <Eigen/Dense>
+
+namespace typeTrans{
+
+inline void addValue(std::vector<double> &vec, double value){
+ vec.push_back(value);
+}
+
+inline double getValue(std::vector<double> &vec, double value){
+ value = vec.at(0);
+ std::vector<double>::iterator begin = vec.begin();
+ vec.erase(begin);
+
+ return value;
+}
+
+inline void addValue(std::vector<double> &vec, Eigen::MatrixXd value){
+ for(int i(0); i<value.rows(); ++i){
+ for(int j(0); j<value.cols(); ++j){
+ vec.push_back(value(i, j));
+ }
+ }
+}
+
+inline Eigen::MatrixXd getValue(std::vector<double> &vec, Eigen::MatrixXd value){
+ std::vector<double>::iterator begin = vec.begin();
+ std::vector<double>::iterator end = begin;
+
+ for(int i(0); i<value.rows(); ++i){
+ for(int j(0); j<value.cols(); ++j){
+ value(i, j) = *end;
+ ++end;
+ }
+ }
+
+ vec.erase(begin, end);
+
+ return value;
+}
+
+/* combine different type variables to vector */
+template<typename T>
+inline void combineToVector(std::vector<double> &vec, T value){
+ addValue(vec, value);
+}
+
+template<typename T, typename... Args>
+inline void combineToVector(std::vector<double> &vec, const T t, const Args... rest){
+ combineToVector(vec, t);
+
+ combineToVector(vec, rest...);
+}
+
+
+/* extract different type variables from vector */
+template<typename T>
+inline void extractVector(std::vector<double> &vec, T &value){
+ value = getValue(vec, value);
+}
+
+template<typename T, typename... Args>
+inline void extractVector(std::vector<double> &vec, T &t, Args&... rest){
+ extractVector(vec, t);
+
+ extractVector(vec, rest...);
+}
+
+}
+
#endif // TYPETRANS_H
\ No newline at end of file
diff --git a/include/control/CtrlComponents.h b/include/control/CtrlComponents.h
index 6b4e242..9829ba0 100755
--- a/include/control/CtrlComponents.h
+++ b/include/control/CtrlComponents.h
@@ -1,53 +1,53 @@
-#ifndef CTRLCOMPONENTS_H
-#define CTRLCOMPONENTS_H
-
-#include <string>
-#include <iostream>
-#include "common/utilities/loop.h"
-#include "message/arm_common.h"
-#include "message/LowlevelCmd.h"
-#include "message/LowlevelState.h"
-#include "common/utilities/CSVTool.h"
-#include "model/ArmModel.h"
-#include "interface/IOUDP.h"
-#include "interface/IOROS.h"
-#include "control/armSDK.h"
-
-using namespace std;
-
-struct CtrlComponents{
-public:
- CtrlComponents(int argc, char**argv);
- ~CtrlComponents();
-
- std::string armConfigPath;
- CmdPanel *cmdPanel;
- IOInterface *ioInter;
- Z1Model *armModel;
- CSVTool *stateCSV;
-
- SendCmd sendCmd; // cmd that receive from SDK
- RecvState recvState;// state that send to SDK
-
- //config
- double dt;
- bool *running;
- Control ctrl = Control::SDK;
- bool hasGripper;
- bool isCollisionOpen;
- double collisionTLimit;
- bool isPlot;
- int trajChoose = 1;
- size_t armType = 36;
-
- void geneObj();
- void writeData();
-private:
- void configProcess(int argc, char** argv);
-
- std::string ctrl_IP;
- uint ctrl_port;
- double _loadWeight;
-};
-
+#ifndef CTRLCOMPONENTS_H
+#define CTRLCOMPONENTS_H
+
+#include <string>
+#include <iostream>
+#include "common/utilities/loop.h"
+#include "message/arm_common.h"
+#include "message/LowlevelCmd.h"
+#include "message/LowlevelState.h"
+#include "common/utilities/CSVTool.h"
+#include "model/ArmModel.h"
+#include "interface/IOUDP.h"
+#include "interface/IOROS.h"
+#include "control/armSDK.h"
+
+using namespace std;
+
+struct CtrlComponents{
+public:
+ CtrlComponents(int argc, char**argv);
+ ~CtrlComponents();
+
+ std::string armConfigPath;
+ CmdPanel *cmdPanel;
+ IOInterface *ioInter;
+ Z1Model *armModel;
+ CSVTool *stateCSV;
+
+ SendCmd sendCmd; // cmd that receive from SDK
+ RecvState recvState;// state that send to SDK
+
+ //config
+ double dt;
+ bool *running;
+ Control ctrl = Control::SDK;
+ bool hasGripper;
+ bool isCollisionOpen;
+ double collisionTLimit;
+ bool isPlot;
+ int trajChoose = 1;
+ size_t armType = 36;
+
+ void geneObj();
+ void writeData();
+private:
+ void configProcess(int argc, char** argv);
+
+ std::string ctrl_IP;
+ uint ctrl_port;
+ double _loadWeight;
+};
+
#endif // CTRLCOMPONENTS_H
\ No newline at end of file
diff --git a/include/interface/IOInterface.h b/include/interface/IOInterface.h
index 9af2a71..444471d 100755
--- a/include/interface/IOInterface.h
+++ b/include/interface/IOInterface.h
@@ -1,28 +1,28 @@
-#ifndef IOINTERFACE_H
-#define IOINTERFACE_H
-
-#include <string>
-#include "message/LowlevelCmd.h"
-#include "message/LowlevelState.h"
-#include "control/keyboard.h"
-#include "common/math/robotics.h"
-
-class IOInterface{
-public:
- IOInterface(){}
- ~IOInterface(){
- delete lowCmd;
- delete lowState;
- };
- virtual bool sendRecv(const LowlevelCmd *cmd, LowlevelState *state) = 0;
- virtual bool calibration(){return false;};
- bool checkGripper(){return hasGripper;};
- LowlevelCmd *lowCmd;
- LowlevelState *lowState;
- virtual bool isDisconnect(){ return false;};
- bool hasErrorState;
-protected:
- bool hasGripper;
-};
-
+#ifndef IOINTERFACE_H
+#define IOINTERFACE_H
+
+#include <string>
+#include "message/LowlevelCmd.h"
+#include "message/LowlevelState.h"
+#include "control/keyboard.h"
+#include "common/math/robotics.h"
+
+class IOInterface{
+public:
+ IOInterface(){}
+ ~IOInterface(){
+ delete lowCmd;
+ delete lowState;
+ };
+ virtual bool sendRecv(const LowlevelCmd *cmd, LowlevelState *state) = 0;
+ virtual bool calibration(){return false;};
+ bool checkGripper(){return hasGripper;};
+ LowlevelCmd *lowCmd;
+ LowlevelState *lowState;
+ virtual bool isDisconnect(){ return false;};
+ bool hasErrorState;
+protected:
+ bool hasGripper;
+};
+
#endif //IOINTERFACE_H
\ No newline at end of file
diff --git a/include/interface/IOROS.h b/include/interface/IOROS.h
old mode 100755
new mode 100644
diff --git a/include/interface/IOUDP.h b/include/interface/IOUDP.h
index 0b4fa05..1164ce5 100644
--- a/include/interface/IOUDP.h
+++ b/include/interface/IOUDP.h
@@ -1,26 +1,26 @@
-#ifndef IOUDP_H
-#define IOUDP_H
-
-#include "interface/IOInterface.h"
-
-class IOUDP : public IOInterface{
-public:
- IOUDP(const char* IP, uint port, size_t timeOutUs = 100000, bool showInfo = true);
- ~IOUDP();
-
- bool sendRecv(const LowlevelCmd *cmd, LowlevelState *state);
- bool calibration();
- bool isDisconnect(){ return _ioPort->isDisConnect;}
-private:
- IOPort *_ioPort;
-
- UDPSendCmd _cmd;
- UDPRecvState _state;
- UDPRecvStateOld _stateOld;
- size_t _motorNum;
- size_t _jointNum;
- uint8_t _singleState;
- uint8_t _selfCheck[10];
-};
-
+#ifndef IOUDP_H
+#define IOUDP_H
+
+#include "interface/IOInterface.h"
+
+class IOUDP : public IOInterface{
+public:
+ IOUDP(const char* IP, uint port, size_t timeOutUs = 100000, bool showInfo = true);
+ ~IOUDP();
+
+ bool sendRecv(const LowlevelCmd *cmd, LowlevelState *state);
+ bool calibration();
+ bool isDisconnect(){ return _ioPort->isDisConnect;}
+private:
+ IOPort *_ioPort;
+
+ UDPSendCmd _cmd;
+ UDPRecvState _state;
+ UDPRecvStateOld _stateOld;
+ size_t _motorNum;
+ size_t _jointNum;
+ uint8_t _singleState;
+ uint8_t _selfCheck[10];
+};
+
#endif // IOUDP_H
\ No newline at end of file
diff --git a/include/message/LowlevelCmd.h b/include/message/LowlevelCmd.h
index ac8ae44..24bda49 100755
--- a/include/message/LowlevelCmd.h
+++ b/include/message/LowlevelCmd.h
@@ -1,56 +1,56 @@
-#ifndef LOWLEVELCMD_H
-#define LOWLEVELCMD_H
-
-#include "common/math/mathTypes.h"
-#include "common/math/mathTools.h"
-#include <vector>
-#include <iostream>
-
-struct LowlevelCmd{
-public:
- std::vector<double> q;
- std::vector<double> dq;
- std::vector<double> tau;
- std::vector<double> kp;
- std::vector<double> kd;
-
- std::vector<std::vector<double>> q_data;
- std::vector<std::vector<double>> dq_data;
- std::vector<std::vector<double>> tauf_data;
- std::vector<std::vector<double>> tau_data;
-
- LowlevelCmd();
- ~LowlevelCmd(){}
-
- void setZeroDq();
- void setZeroTau();
- void setZeroKp();
- void setZeroKd();
- void setQ(VecX qInput);
- void setQd(VecX qDInput);
- void setTau(VecX tauInput);
-
- void setControlGain();
- void setControlGain(std::vector<float> KP, std::vector<float> KW);
- void setPassive();
-
- void setGripperGain();
- void setGripperGain(float KP, float KW);
- void setGripperZeroGain();
- void setGripperQ(double qInput);
- double getGripperQ();
- void setGripperQd(double qdInput);
- double getGripperQd();
- void setGripperTau(double tauInput);
- double getGripperTau();
-
- Vec6 getQ();
- Vec6 getQd();
-
- void resizeGripper();
-private:
- size_t _dof = 6;
-};
-
-
-#endif //LOWLEVELCMD_H
+#ifndef LOWLEVELCMD_H
+#define LOWLEVELCMD_H
+
+#include "common/math/mathTypes.h"
+#include "common/math/mathTools.h"
+#include <vector>
+#include <iostream>
+
+struct LowlevelCmd{
+public:
+ std::vector<double> q;
+ std::vector<double> dq;
+ std::vector<double> tau;
+ std::vector<double> kp;
+ std::vector<double> kd;
+
+ std::vector<std::vector<double>> q_data;
+ std::vector<std::vector<double>> dq_data;
+ std::vector<std::vector<double>> tauf_data;
+ std::vector<std::vector<double>> tau_data;
+
+ LowlevelCmd();
+ ~LowlevelCmd(){}
+
+ void setZeroDq();
+ void setZeroTau();
+ void setZeroKp();
+ void setZeroKd();
+ void setQ(VecX qInput);
+ void setQd(VecX qDInput);
+ void setTau(VecX tauInput);
+
+ void setControlGain();
+ void setControlGain(std::vector<float> KP, std::vector<float> KW);
+ void setPassive();
+
+ void setGripperGain();
+ void setGripperGain(float KP, float KW);
+ void setGripperZeroGain();
+ void setGripperQ(double qInput);
+ double getGripperQ();
+ void setGripperQd(double qdInput);
+ double getGripperQd();
+ void setGripperTau(double tauInput);
+ double getGripperTau();
+
+ Vec6 getQ();
+ Vec6 getQd();
+
+ void resizeGripper();
+private:
+ size_t _dof = 6;
+};
+
+
+#endif //LOWLEVELCMD_H
diff --git a/include/message/LowlevelState.h b/include/message/LowlevelState.h
index 5a60dfd..935a47d 100755
--- a/include/message/LowlevelState.h
+++ b/include/message/LowlevelState.h
@@ -1,61 +1,61 @@
-#ifndef LOWLEVELSTATE_HPP
-#define LOWLEVELSTATE_HPP
-
-#include <iostream>
-#include <vector>
-#include "common/math/mathTools.h"
-#include "common/enumClass.h"
-#include "common/math/Filter.h"
-
-struct LowlevelState{
-public:
- LowlevelState(double dt);
- ~LowlevelState();
-
- std::vector<double> q;
- std::vector<double> dq;
- std::vector<double> ddq;
- std::vector<double> tau;
-
- std::vector<std::vector<double>> q_data;
- std::vector<std::vector<double>> dq_data;
- std::vector<std::vector<double>> ddq_data;
- std::vector<std::vector<double>> tau_data;
-
- std::vector<int> temperature;
- std::vector<uint8_t> errorstate;
- std::vector<uint8_t> isMotorConnected;
-
- std::vector<double> qFiltered;
- std::vector<double> dqFiltered;
- std::vector<double> ddqFiltered;
- std::vector<double> tauFiltered;
-
- LPFilter *qFilter;
- LPFilter *dqFilter;
- LPFilter *ddqFilter;
- LPFilter *tauFilter;
-
- void resizeGripper(double dt);
- void runFilter();
- bool checkError();
- Vec6 getQ();
- Vec6 getQd();
- Vec6 getQdd();
- Vec6 getTau();
- Vec6 getQFiltered();
- Vec6 getQdFiltered();
- Vec6 getQddFiltered();
- Vec6 getTauFiltered();
- double getGripperQ();
- double getGripperQd();
- double getGripperTau();
- double getGripperTauFiltered();
-private:
- size_t _dof = 6;
- int temporatureLimit = 80.0;// centigrade
- std::vector<int> _isMotorConnectedCnt;
- std::vector<bool> _isMotorLostConnection;
-};
-
-#endif //LOWLEVELSTATE_HPP
+#ifndef LOWLEVELSTATE_HPP
+#define LOWLEVELSTATE_HPP
+
+#include <iostream>
+#include <vector>
+#include "common/math/mathTools.h"
+#include "common/enumClass.h"
+#include "common/math/Filter.h"
+
+struct LowlevelState{
+public:
+ LowlevelState(double dt);
+ ~LowlevelState();
+
+ std::vector<double> q;
+ std::vector<double> dq;
+ std::vector<double> ddq;
+ std::vector<double> tau;
+
+ std::vector<std::vector<double>> q_data;
+ std::vector<std::vector<double>> dq_data;
+ std::vector<std::vector<double>> ddq_data;
+ std::vector<std::vector<double>> tau_data;
+
+ std::vector<int> temperature;
+ std::vector<uint8_t> errorstate;
+ std::vector<uint8_t> isMotorConnected;
+
+ std::vector<double> qFiltered;
+ std::vector<double> dqFiltered;
+ std::vector<double> ddqFiltered;
+ std::vector<double> tauFiltered;
+
+ LPFilter *qFilter;
+ LPFilter *dqFilter;
+ LPFilter *ddqFilter;
+ LPFilter *tauFilter;
+
+ void resizeGripper(double dt);
+ void runFilter();
+ bool checkError();
+ Vec6 getQ();
+ Vec6 getQd();
+ Vec6 getQdd();
+ Vec6 getTau();
+ Vec6 getQFiltered();
+ Vec6 getQdFiltered();
+ Vec6 getQddFiltered();
+ Vec6 getTauFiltered();
+ double getGripperQ();
+ double getGripperQd();
+ double getGripperTau();
+ double getGripperTauFiltered();
+private:
+ size_t _dof = 6;
+ int temporatureLimit = 80.0;// centigrade
+ std::vector<int> _isMotorConnectedCnt;
+ std::vector<bool> _isMotorLostConnection;
+};
+
+#endif //LOWLEVELSTATE_HPP
diff --git a/include/message/MotorCmd.h b/include/message/MotorCmd.h
index 9efff2d..b5d90c9 100644
--- a/include/message/MotorCmd.h
+++ b/include/message/MotorCmd.h
@@ -1,261 +1,261 @@
-// Generated by gencpp from file unitree_legged_msgs/MotorCmd.msg
-// DO NOT EDIT!
-
-
-#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H
-#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H
-
-
-#include <string>
-#include <vector>
-#include <map>
-
-#include <ros/types.h>
-#include <ros/serialization.h>
-#include <ros/builtin_message_traits.h>
-#include <ros/message_operations.h>
-
-
-namespace unitree_legged_msgs
-{
-template <class ContainerAllocator>
-struct MotorCmd_
-{
- typedef MotorCmd_<ContainerAllocator> Type;
-
- MotorCmd_()
- : mode(0)
- , q(0.0)
- , dq(0.0)
- , tau(0.0)
- , Kp(0.0)
- , Kd(0.0)
- , reserve() {
- reserve.assign(0);
- }
- MotorCmd_(const ContainerAllocator& _alloc)
- : mode(0)
- , q(0.0)
- , dq(0.0)
- , tau(0.0)
- , Kp(0.0)
- , Kd(0.0)
- , reserve() {
- (void)_alloc;
- reserve.assign(0);
- }
-
-
-
- typedef uint8_t _mode_type;
- _mode_type mode;
-
- typedef float _q_type;
- _q_type q;
-
- typedef float _dq_type;
- _dq_type dq;
-
- typedef float _tau_type;
- _tau_type tau;
-
- typedef float _Kp_type;
- _Kp_type Kp;
-
- typedef float _Kd_type;
- _Kd_type Kd;
-
- typedef boost::array<uint32_t, 3> _reserve_type;
- _reserve_type reserve;
-
-
-
-
-
- typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> > Ptr;
- typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const> ConstPtr;
-
-}; // struct MotorCmd_
-
-typedef ::unitree_legged_msgs::MotorCmd_<std::allocator<void> > MotorCmd;
-
-typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd > MotorCmdPtr;
-typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd const> MotorCmdConstPtr;
-
-// constants requiring out of line definition
-
-
-
-template<typename ContainerAllocator>
-std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> & v)
-{
-ros::message_operations::Printer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >::stream(s, "", v);
-return s;
-}
-
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator==(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator2> & rhs)
-{
- return lhs.mode == rhs.mode &&
- lhs.q == rhs.q &&
- lhs.dq == rhs.dq &&
- lhs.tau == rhs.tau &&
- lhs.Kp == rhs.Kp &&
- lhs.Kd == rhs.Kd &&
- lhs.reserve == rhs.reserve;
-}
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator!=(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator2> & rhs)
-{
- return !(lhs == rhs);
-}
-
-
-} // namespace unitree_legged_msgs
-
-namespace ros
-{
-namespace message_traits
-{
-
-
-
-
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
- : TrueType
- { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
- : TrueType
- { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
- : TrueType
- { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
- : TrueType
- { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
- : FalseType
- { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
- : FalseType
- { };
-
-
-template<class ContainerAllocator>
-struct MD5Sum< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
-{
- static const char* value()
- {
- return "bbb3b7d91319c3a1b99055f0149ba221";
- }
-
- static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
- static const uint64_t static_value1 = 0xbbb3b7d91319c3a1ULL;
- static const uint64_t static_value2 = 0xb99055f0149ba221ULL;
-};
-
-template<class ContainerAllocator>
-struct DataType< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
-{
- static const char* value()
- {
- return "unitree_legged_msgs/MotorCmd";
- }
-
- static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
-};
-
-template<class ContainerAllocator>
-struct Definition< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
-{
- static const char* value()
- {
- return "uint8 mode # motor target mode\n"
-"float32 q # motor target position\n"
-"float32 dq # motor target velocity\n"
-"float32 tau # motor target torque\n"
-"float32 Kp # motor spring stiffness coefficient\n"
-"float32 Kd # motor damper coefficient\n"
-"uint32[3] reserve # motor target torque\n"
-;
- }
-
- static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
-};
-
-} // namespace message_traits
-} // namespace ros
-
-namespace ros
-{
-namespace serialization
-{
-
- template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
- {
- template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
- {
- stream.next(m.mode);
- stream.next(m.q);
- stream.next(m.dq);
- stream.next(m.tau);
- stream.next(m.Kp);
- stream.next(m.Kd);
- stream.next(m.reserve);
- }
-
- ROS_DECLARE_ALLINONE_SERIALIZER
- }; // struct MotorCmd_
-
-} // namespace serialization
-} // namespace ros
-
-namespace ros
-{
-namespace message_operations
-{
-
-template<class ContainerAllocator>
-struct Printer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
-{
- template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>& v)
- {
- s << indent << "mode: ";
- Printer<uint8_t>::stream(s, indent + " ", v.mode);
- s << indent << "q: ";
- Printer<float>::stream(s, indent + " ", v.q);
- s << indent << "dq: ";
- Printer<float>::stream(s, indent + " ", v.dq);
- s << indent << "tau: ";
- Printer<float>::stream(s, indent + " ", v.tau);
- s << indent << "Kp: ";
- Printer<float>::stream(s, indent + " ", v.Kp);
- s << indent << "Kd: ";
- Printer<float>::stream(s, indent + " ", v.Kd);
- s << indent << "reserve[]" << std::endl;
- for (size_t i = 0; i < v.reserve.size(); ++i)
- {
- s << indent << " reserve[" << i << "]: ";
- Printer<uint32_t>::stream(s, indent + " ", v.reserve[i]);
- }
- }
-};
-
-} // namespace message_operations
-} // namespace ros
-
-#endif // UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H
+// Generated by gencpp from file unitree_legged_msgs/MotorCmd.msg
+// DO NOT EDIT!
+
+
+#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H
+#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace unitree_legged_msgs
+{
+template <class ContainerAllocator>
+struct MotorCmd_
+{
+ typedef MotorCmd_<ContainerAllocator> Type;
+
+ MotorCmd_()
+ : mode(0)
+ , q(0.0)
+ , dq(0.0)
+ , tau(0.0)
+ , Kp(0.0)
+ , Kd(0.0)
+ , reserve() {
+ reserve.assign(0);
+ }
+ MotorCmd_(const ContainerAllocator& _alloc)
+ : mode(0)
+ , q(0.0)
+ , dq(0.0)
+ , tau(0.0)
+ , Kp(0.0)
+ , Kd(0.0)
+ , reserve() {
+ (void)_alloc;
+ reserve.assign(0);
+ }
+
+
+
+ typedef uint8_t _mode_type;
+ _mode_type mode;
+
+ typedef float _q_type;
+ _q_type q;
+
+ typedef float _dq_type;
+ _dq_type dq;
+
+ typedef float _tau_type;
+ _tau_type tau;
+
+ typedef float _Kp_type;
+ _Kp_type Kp;
+
+ typedef float _Kd_type;
+ _Kd_type Kd;
+
+ typedef boost::array<uint32_t, 3> _reserve_type;
+ _reserve_type reserve;
+
+
+
+
+
+ typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> > Ptr;
+ typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const> ConstPtr;
+
+}; // struct MotorCmd_
+
+typedef ::unitree_legged_msgs::MotorCmd_<std::allocator<void> > MotorCmd;
+
+typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd > MotorCmdPtr;
+typedef boost::shared_ptr< ::unitree_legged_msgs::MotorCmd const> MotorCmdConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator2> & rhs)
+{
+ return lhs.mode == rhs.mode &&
+ lhs.q == rhs.q &&
+ lhs.dq == rhs.dq &&
+ lhs.tau == rhs.tau &&
+ lhs.Kp == rhs.Kp &&
+ lhs.Kd == rhs.Kd &&
+ lhs.reserve == rhs.reserve;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator2> & rhs)
+{
+ return !(lhs == rhs);
+}
+
+
+} // namespace unitree_legged_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
+ : TrueType
+ { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
+ : TrueType
+ { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
+ : TrueType
+ { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
+ : TrueType
+ { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
+ : FalseType
+ { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> const>
+ : FalseType
+ { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
+{
+ static const char* value()
+ {
+ return "bbb3b7d91319c3a1b99055f0149ba221";
+ }
+
+ static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
+ static const uint64_t static_value1 = 0xbbb3b7d91319c3a1ULL;
+ static const uint64_t static_value2 = 0xb99055f0149ba221ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
+{
+ static const char* value()
+ {
+ return "unitree_legged_msgs/MotorCmd";
+ }
+
+ static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
+{
+ static const char* value()
+ {
+ return "uint8 mode # motor target mode\n"
+"float32 q # motor target position\n"
+"float32 dq # motor target velocity\n"
+"float32 tau # motor target torque\n"
+"float32 Kp # motor spring stiffness coefficient\n"
+"float32 Kd # motor damper coefficient\n"
+"uint32[3] reserve # motor target torque\n"
+;
+ }
+
+ static const char* value(const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+ template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
+ {
+ template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+ {
+ stream.next(m.mode);
+ stream.next(m.q);
+ stream.next(m.dq);
+ stream.next(m.tau);
+ stream.next(m.Kp);
+ stream.next(m.Kd);
+ stream.next(m.reserve);
+ }
+
+ ROS_DECLARE_ALLINONE_SERIALIZER
+ }; // struct MotorCmd_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::unitree_legged_msgs::MotorCmd_<ContainerAllocator> >
+{
+ template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::MotorCmd_<ContainerAllocator>& v)
+ {
+ s << indent << "mode: ";
+ Printer<uint8_t>::stream(s, indent + " ", v.mode);
+ s << indent << "q: ";
+ Printer<float>::stream(s, indent + " ", v.q);
+ s << indent << "dq: ";
+ Printer<float>::stream(s, indent + " ", v.dq);
+ s << indent << "tau: ";
+ Printer<float>::stream(s, indent + " ", v.tau);
+ s << indent << "Kp: ";
+ Printer<float>::stream(s, indent + " ", v.Kp);
+ s << indent << "Kd: ";
+ Printer<float>::stream(s, indent + " ", v.Kd);
+ s << indent << "reserve[]" << std::endl;
+ for (size_t i = 0; i < v.reserve.size(); ++i)
+ {
+ s << indent << " reserve[" << i << "]: ";
+ Printer<uint32_t>::stream(s, indent + " ", v.reserve[i]);
+ }
+ }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UNITREE_LEGGED_MSGS_MESSAGE_MOTORCMD_H
diff --git a/include/message/MotorState.h b/include/message/MotorState.h
index e7183e0..8dcfd42 100644
--- a/include/message/MotorState.h
+++ b/include/message/MotorState.h
@@ -1,291 +1,291 @@
-// Generated by gencpp from file unitree_legged_msgs/MotorState.msg
-// DO NOT EDIT!
-
-
-#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
-#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
-
-
-#include <string>
-#include <vector>
-#include <map>
-
-#include <ros/types.h>
-#include <ros/serialization.h>
-#include <ros/builtin_message_traits.h>
-#include <ros/message_operations.h>
-
-
-namespace unitree_legged_msgs
-{
-template <class ContainerAllocator>
-struct MotorState_
-{
- typedef MotorState_<ContainerAllocator> Type;
-
- MotorState_()
- : mode(0)
- , q(0.0)
- , dq(0.0)
- , ddq(0.0)
- , tauEst(0.0)
- , q_raw(0.0)
- , dq_raw(0.0)
- , ddq_raw(0.0)
- , temperature(0)
- , reserve() {
- reserve.assign(0);
- }
- MotorState_(const ContainerAllocator& _alloc)
- : mode(0)
- , q(0.0)
- , dq(0.0)
- , ddq(0.0)
- , tauEst(0.0)
- , q_raw(0.0)
- , dq_raw(0.0)
- , ddq_raw(0.0)
- , temperature(0)
- , reserve() {
- (void)_alloc;
- reserve.assign(0);
- }
-
-
-
- typedef uint8_t _mode_type;
- _mode_type mode;
-
- typedef float _q_type;
- _q_type q;
-
- typedef float _dq_type;
- _dq_type dq;
-
- typedef float _ddq_type;
- _ddq_type ddq;
-
- typedef float _tauEst_type;
- _tauEst_type tauEst;
-
- typedef float _q_raw_type;
- _q_raw_type q_raw;
-
- typedef float _dq_raw_type;
- _dq_raw_type dq_raw;
-
- typedef float _ddq_raw_type;
- _ddq_raw_type ddq_raw;
-
- typedef int8_t _temperature_type;
- _temperature_type temperature;
-
- typedef boost::array<uint32_t, 2> _reserve_type;
- _reserve_type reserve;
-
-
-
-
-
- typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_<ContainerAllocator> > Ptr;
- typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const> ConstPtr;
-
-}; // struct MotorState_
-
-typedef ::unitree_legged_msgs::MotorState_<std::allocator<void> > MotorState;
-
-typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState > MotorStatePtr;
-typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState const> MotorStateConstPtr;
-
-// constants requiring out of line definition
-
-
-
-template<typename ContainerAllocator>
-std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::MotorState_<ContainerAllocator> & v)
-{
-ros::message_operations::Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >::stream(s, "", v);
-return s;
-}
-
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator==(const ::unitree_legged_msgs::MotorState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorState_<ContainerAllocator2> & rhs)
-{
- return lhs.mode == rhs.mode &&
- lhs.q == rhs.q &&
- lhs.dq == rhs.dq &&
- lhs.ddq == rhs.ddq &&
- lhs.tauEst == rhs.tauEst &&
- lhs.q_raw == rhs.q_raw &&
- lhs.dq_raw == rhs.dq_raw &&
- lhs.ddq_raw == rhs.ddq_raw &&
- lhs.temperature == rhs.temperature &&
- lhs.reserve == rhs.reserve;
-}
-
-template<typename ContainerAllocator1, typename ContainerAllocator2>
-bool operator!=(const ::unitree_legged_msgs::MotorState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorState_<ContainerAllocator2> & rhs)
-{
- return !(lhs == rhs);
-}
-
-
-} // namespace unitree_legged_msgs
-
-namespace ros
-{
-namespace message_traits
-{
-
-
-
-
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
- : TrueType
- { };
-
-template <class ContainerAllocator>
-struct IsFixedSize< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
- : TrueType
- { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
- : TrueType
- { };
-
-template <class ContainerAllocator>
-struct IsMessage< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
- : TrueType
- { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
- : FalseType
- { };
-
-template <class ContainerAllocator>
-struct HasHeader< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
- : FalseType
- { };
-
-
-template<class ContainerAllocator>
-struct MD5Sum< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
-{
- static const char* value()
- {
- return "94c55ee3b7852be2bd437b20ce12a254";
- }
-
- static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
- static const uint64_t static_value1 = 0x94c55ee3b7852be2ULL;
- static const uint64_t static_value2 = 0xbd437b20ce12a254ULL;
-};
-
-template<class ContainerAllocator>
-struct DataType< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
-{
- static const char* value()
- {
- return "unitree_legged_msgs/MotorState";
- }
-
- static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
-};
-
-template<class ContainerAllocator>
-struct Definition< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
-{
- static const char* value()
- {
- return "uint8 mode # motor current mode \n"
-"float32 q # motor current position（rad）\n"
-"float32 dq # motor current speed（rad/s）\n"
-"float32 ddq # motor current speed（rad/s）\n"
-"float32 tauEst # current estimated output torque（N*m）\n"
-"float32 q_raw # motor current position（rad）\n"
-"float32 dq_raw # motor current speed（rad/s）\n"
-"float32 ddq_raw # motor current speed（rad/s）\n"
-"int8 temperature # motor temperature（slow conduction of temperature leads to lag）\n"
-"uint32[2] reserve\n"
-;
- }
-
- static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
-};
-
-} // namespace message_traits
-} // namespace ros
-
-namespace ros
-{
-namespace serialization
-{
-
- template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
- {
- template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
- {
- stream.next(m.mode);
- stream.next(m.q);
- stream.next(m.dq);
- stream.next(m.ddq);
- stream.next(m.tauEst);
- stream.next(m.q_raw);
- stream.next(m.dq_raw);
- stream.next(m.ddq_raw);
- stream.next(m.temperature);
- stream.next(m.reserve);
- }
-
- ROS_DECLARE_ALLINONE_SERIALIZER
- }; // struct MotorState_
-
-} // namespace serialization
-} // namespace ros
-
-namespace ros
-{
-namespace message_operations
-{
-
-template<class ContainerAllocator>
-struct Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
-{
- template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::MotorState_<ContainerAllocator>& v)
- {
- s << indent << "mode: ";
- Printer<uint8_t>::stream(s, indent + " ", v.mode);
- s << indent << "q: ";
- Printer<float>::stream(s, indent + " ", v.q);
- s << indent << "dq: ";
- Printer<float>::stream(s, indent + " ", v.dq);
- s << indent << "ddq: ";
- Printer<float>::stream(s, indent + " ", v.ddq);
- s << indent << "tauEst: ";
- Printer<float>::stream(s, indent + " ", v.tauEst);
- s << indent << "q_raw: ";
- Printer<float>::stream(s, indent + " ", v.q_raw);
- s << indent << "dq_raw: ";
- Printer<float>::stream(s, indent + " ", v.dq_raw);
- s << indent << "ddq_raw: ";
- Printer<float>::stream(s, indent + " ", v.ddq_raw);
- s << indent << "temperature: ";
- Printer<int8_t>::stream(s, indent + " ", v.temperature);
- s << indent << "reserve[]" << std::endl;
- for (size_t i = 0; i < v.reserve.size(); ++i)
- {
- s << indent << " reserve[" << i << "]: ";
- Printer<uint32_t>::stream(s, indent + " ", v.reserve[i]);
- }
- }
-};
-
-} // namespace message_operations
-} // namespace ros
-
-#endif // UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
+// Generated by gencpp from file unitree_legged_msgs/MotorState.msg
+// DO NOT EDIT!
+
+
+#ifndef UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
+#define UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace unitree_legged_msgs
+{
+template <class ContainerAllocator>
+struct MotorState_
+{
+ typedef MotorState_<ContainerAllocator> Type;
+
+ MotorState_()
+ : mode(0)
+ , q(0.0)
+ , dq(0.0)
+ , ddq(0.0)
+ , tauEst(0.0)
+ , q_raw(0.0)
+ , dq_raw(0.0)
+ , ddq_raw(0.0)
+ , temperature(0)
+ , reserve() {
+ reserve.assign(0);
+ }
+ MotorState_(const ContainerAllocator& _alloc)
+ : mode(0)
+ , q(0.0)
+ , dq(0.0)
+ , ddq(0.0)
+ , tauEst(0.0)
+ , q_raw(0.0)
+ , dq_raw(0.0)
+ , ddq_raw(0.0)
+ , temperature(0)
+ , reserve() {
+ (void)_alloc;
+ reserve.assign(0);
+ }
+
+
+
+ typedef uint8_t _mode_type;
+ _mode_type mode;
+
+ typedef float _q_type;
+ _q_type q;
+
+ typedef float _dq_type;
+ _dq_type dq;
+
+ typedef float _ddq_type;
+ _ddq_type ddq;
+
+ typedef float _tauEst_type;
+ _tauEst_type tauEst;
+
+ typedef float _q_raw_type;
+ _q_raw_type q_raw;
+
+ typedef float _dq_raw_type;
+ _dq_raw_type dq_raw;
+
+ typedef float _ddq_raw_type;
+ _ddq_raw_type ddq_raw;
+
+ typedef int8_t _temperature_type;
+ _temperature_type temperature;
+
+ typedef boost::array<uint32_t, 2> _reserve_type;
+ _reserve_type reserve;
+
+
+
+
+
+ typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_<ContainerAllocator> > Ptr;
+ typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const> ConstPtr;
+
+}; // struct MotorState_
+
+typedef ::unitree_legged_msgs::MotorState_<std::allocator<void> > MotorState;
+
+typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState > MotorStatePtr;
+typedef boost::shared_ptr< ::unitree_legged_msgs::MotorState const> MotorStateConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::unitree_legged_msgs::MotorState_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::unitree_legged_msgs::MotorState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorState_<ContainerAllocator2> & rhs)
+{
+ return lhs.mode == rhs.mode &&
+ lhs.q == rhs.q &&
+ lhs.dq == rhs.dq &&
+ lhs.ddq == rhs.ddq &&
+ lhs.tauEst == rhs.tauEst &&
+ lhs.q_raw == rhs.q_raw &&
+ lhs.dq_raw == rhs.dq_raw &&
+ lhs.ddq_raw == rhs.ddq_raw &&
+ lhs.temperature == rhs.temperature &&
+ lhs.reserve == rhs.reserve;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::unitree_legged_msgs::MotorState_<ContainerAllocator1> & lhs, const ::unitree_legged_msgs::MotorState_<ContainerAllocator2> & rhs)
+{
+ return !(lhs == rhs);
+}
+
+
+} // namespace unitree_legged_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
+ : TrueType
+ { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
+ : TrueType
+ { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
+ : TrueType
+ { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
+ : TrueType
+ { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
+ : FalseType
+ { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::unitree_legged_msgs::MotorState_<ContainerAllocator> const>
+ : FalseType
+ { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
+{
+ static const char* value()
+ {
+ return "94c55ee3b7852be2bd437b20ce12a254";
+ }
+
+ static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
+ static const uint64_t static_value1 = 0x94c55ee3b7852be2ULL;
+ static const uint64_t static_value2 = 0xbd437b20ce12a254ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
+{
+ static const char* value()
+ {
+ return "unitree_legged_msgs/MotorState";
+ }
+
+ static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
+{
+ static const char* value()
+ {
+ return "uint8 mode # motor current mode \n"
+"float32 q # motor current position（rad）\n"
+"float32 dq # motor current speed（rad/s）\n"
+"float32 ddq # motor current speed（rad/s）\n"
+"float32 tauEst # current estimated output torque（N*m）\n"
+"float32 q_raw # motor current position（rad）\n"
+"float32 dq_raw # motor current speed（rad/s）\n"
+"float32 ddq_raw # motor current speed（rad/s）\n"
+"int8 temperature # motor temperature（slow conduction of temperature leads to lag）\n"
+"uint32[2] reserve\n"
+;
+ }
+
+ static const char* value(const ::unitree_legged_msgs::MotorState_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+ template<class ContainerAllocator> struct Serializer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
+ {
+ template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+ {
+ stream.next(m.mode);
+ stream.next(m.q);
+ stream.next(m.dq);
+ stream.next(m.ddq);
+ stream.next(m.tauEst);
+ stream.next(m.q_raw);
+ stream.next(m.dq_raw);
+ stream.next(m.ddq_raw);
+ stream.next(m.temperature);
+ stream.next(m.reserve);
+ }
+
+ ROS_DECLARE_ALLINONE_SERIALIZER
+ }; // struct MotorState_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::unitree_legged_msgs::MotorState_<ContainerAllocator> >
+{
+ template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::unitree_legged_msgs::MotorState_<ContainerAllocator>& v)
+ {
+ s << indent << "mode: ";
+ Printer<uint8_t>::stream(s, indent + " ", v.mode);
+ s << indent << "q: ";
+ Printer<float>::stream(s, indent + " ", v.q);
+ s << indent << "dq: ";
+ Printer<float>::stream(s, indent + " ", v.dq);
+ s << indent << "ddq: ";
+ Printer<float>::stream(s, indent + " ", v.ddq);
+ s << indent << "tauEst: ";
+ Printer<float>::stream(s, indent + " ", v.tauEst);
+ s << indent << "q_raw: ";
+ Printer<float>::stream(s, indent + " ", v.q_raw);
+ s << indent << "dq_raw: ";
+ Printer<float>::stream(s, indent + " ", v.dq_raw);
+ s << indent << "ddq_raw: ";
+ Printer<float>::stream(s, indent + " ", v.ddq_raw);
+ s << indent << "temperature: ";
+ Printer<int8_t>::stream(s, indent + " ", v.temperature);
+ s << indent << "reserve[]" << std::endl;
+ for (size_t i = 0; i < v.reserve.size(); ++i)
+ {
+ s << indent << " reserve[" << i << "]: ";
+ Printer<uint32_t>::stream(s, indent + " ", v.reserve[i]);
+ }
+ }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // UNITREE_LEGGED_MSGS_MESSAGE_MOTORSTATE_H
diff --git a/include/message/arm_common.h b/include/message/arm_common.h
old mode 100644
new mode 100755
diff --git a/include/thirdparty/quadProgpp/Array.hh b/include/thirdparty/quadProgpp/Array.hh
old mode 100644
new mode 100755
index 29e494d..53ab624
--- a/include/thirdparty/quadProgpp/Array.hh
+++ b/include/thirdparty/quadProgpp/Array.hh
@@ -1,2532 +1,2532 @@
-// $Id: Array.hh 249 2008-11-20 09:58:23Z schaerf $
-// This file is part of EasyLocalpp: a C++ Object-Oriented framework
-// aimed at easing the development of Local Search algorithms.
-// Copyright (C) 2001--2008 Andrea Schaerf, Luca Di Gaspero.
-//
-// This software may be modified and distributed under the terms
-// of the MIT license. See the LICENSE file for details.
-
-#if !defined(_ARRAY_HH)
-#define _ARRAY_HH
-
-#include <set>
-#include <stdexcept>
-#include <iostream>
-#include <iomanip>
-#include <cmath>
-#include <cstdlib>
-
-namespace quadprogpp {
-
-enum MType { DIAG };
-
-template <typename T>
-class Vector
-{
-public:
- Vector();
- Vector(const unsigned int n);
- Vector(const T& a, const unsigned int n); //initialize to constant value
- Vector(const T* a, const unsigned int n); // Initialize to array
- Vector(const Vector &rhs); // copy constructor
- ~Vector(); // destructor
-
- inline void set(const T* a, const unsigned int n);
- Vector<T> extract(const std::set<unsigned int>& indexes) const;
- inline T& operator[](const unsigned int& i); //i-th element
- inline const T& operator[](const unsigned int& i) const;
-
- inline unsigned int size() const;
- inline void resize(const unsigned int n);
- inline void resize(const T& a, const unsigned int n);
-
- Vector<T>& operator=(const Vector<T>& rhs); //assignment
- Vector<T>& operator=(const T& a); //assign a to every element
- inline Vector<T>& operator+=(const Vector<T>& rhs);
- inline Vector<T>& operator-=(const Vector<T>& rhs);
- inline Vector<T>& operator*=(const Vector<T>& rhs);
- inline Vector<T>& operator/=(const Vector<T>& rhs);
- inline Vector<T>& operator^=(const Vector<T>& rhs);
- inline Vector<T>& operator+=(const T& a);
- inline Vector<T>& operator-=(const T& a);
- inline Vector<T>& operator*=(const T& a);
- inline Vector<T>& operator/=(const T& a);
- inline Vector<T>& operator^=(const T& a);
-private:
- unsigned int n; // size of array. upper index is n-1
- T* v; // storage for data
-};
-
-template <typename T>
-Vector<T>::Vector()
- : n(0), v(0)
-{}
-
-template <typename T>
-Vector<T>::Vector(const unsigned int n)
- : v(new T[n])
-{
- this->n = n;
-}
-
-template <typename T>
-Vector<T>::Vector(const T& a, const unsigned int n)
- : v(new T[n])
-{
- this->n = n;
- for (unsigned int i = 0; i < n; i++)
- v[i] = a;
-}
-
-template <typename T>
-Vector<T>::Vector(const T* a, const unsigned int n)
- : v(new T[n])
-{
- this->n = n;
- for (unsigned int i = 0; i < n; i++)
- v[i] = *a++;
-}
-
-template <typename T>
-Vector<T>::Vector(const Vector<T>& rhs)
- : v(new T[rhs.n])
-{
- this->n = rhs.n;
- for (unsigned int i = 0; i < n; i++)
- v[i] = rhs[i];
-}
-
-template <typename T>
-Vector<T>::~Vector()
-{
- if (v != 0)
- delete[] (v);
-}
-
-template <typename T>
-void Vector<T>::resize(const unsigned int n)
-{
- if (n == this->n)
- return;
- if (v != 0)
- delete[] (v);
- v = new T[n];
- this->n = n;
-}
-
-template <typename T>
-void Vector<T>::resize(const T& a, const unsigned int n)
-{
- resize(n);
- for (unsigned int i = 0; i < n; i++)
- v[i] = a;
-}
-
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator=(const Vector<T>& rhs)
-// postcondition: normal assignment via copying has been performed;
-// if vector and rhs were different sizes, vector
-// has been resized to match the size of rhs
-{
- if (this != &rhs)
- {
- resize(rhs.n);
- for (unsigned int i = 0; i < n; i++)
- v[i] = rhs[i];
- }
- return *this;
-}
-
-template <typename T>
-inline Vector<T> & Vector<T>::operator=(const T& a) //assign a to every element
-{
- for (unsigned int i = 0; i < n; i++)
- v[i] = a;
- return *this;
-}
-
-template <typename T>
-inline T & Vector<T>::operator[](const unsigned int& i) //subscripting
-{
- return v[i];
-}
-
-template <typename T>
-inline const T& Vector<T>::operator[](const unsigned int& i) const //subscripting
-{
- return v[i];
-}
-
-template <typename T>
-inline unsigned int Vector<T>::size() const
-{
- return n;
-}
-
-template <typename T>
-inline void Vector<T>::set(const T* a, unsigned int n)
-{
- resize(n);
- for (unsigned int i = 0; i < n; i++)
- v[i] = a[i];
-}
-
-template <typename T>
-inline Vector<T> Vector<T>::extract(const std::set<unsigned int>& indexes) const
-{
- Vector<T> tmp(indexes.size());
- unsigned int i = 0;
-
- for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
- {
- if (*el >= n)
- throw std::logic_error("Error extracting subvector: the indexes are out of vector bounds");
- tmp[i++] = v[*el];
- }
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator+=(const Vector<T>& rhs)
-{
- if (this->size() != rhs.size())
- throw std::logic_error("Operator+=: vectors have different sizes");
- for (unsigned int i = 0; i < n; i++)
- v[i] += rhs[i];
-
- return *this;
-}
-
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator+=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- v[i] += a;
-
- return *this;
-}
-
-template <typename T>
-inline Vector<T> operator+(const Vector<T>& rhs)
-{
- return rhs;
-}
-
-template <typename T>
-inline Vector<T> operator+(const Vector<T>& lhs, const Vector<T>& rhs)
-{
- if (lhs.size() != rhs.size())
- throw std::logic_error("Operator+: vectors have different sizes");
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = lhs[i] + rhs[i];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator+(const Vector<T>& lhs, const T& a)
-{
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = lhs[i] + a;
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator+(const T& a, const Vector<T>& rhs)
-{
- Vector<T> tmp(rhs.size());
- for (unsigned int i = 0; i < rhs.size(); i++)
- tmp[i] = a + rhs[i];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator-=(const Vector<T>& rhs)
-{
- if (this->size() != rhs.size())
- throw std::logic_error("Operator-=: vectors have different sizes");
- for (unsigned int i = 0; i < n; i++)
- v[i] -= rhs[i];
-
- return *this;
-}
-
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator-=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- v[i] -= a;
-
- return *this;
-}
-
-template <typename T>
-inline Vector<T> operator-(const Vector<T>& rhs)
-{
- return (T)(-1) * rhs;
-}
-
-template <typename T>
-inline Vector<T> operator-(const Vector<T>& lhs, const Vector<T>& rhs)
-{
- if (lhs.size() != rhs.size())
- throw std::logic_error("Operator-: vectors have different sizes");
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = lhs[i] - rhs[i];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator-(const Vector<T>& lhs, const T& a)
-{
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = lhs[i] - a;
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator-(const T& a, const Vector<T>& rhs)
-{
- Vector<T> tmp(rhs.size());
- for (unsigned int i = 0; i < rhs.size(); i++)
- tmp[i] = a - rhs[i];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator*=(const Vector<T>& rhs)
-{
- if (this->size() != rhs.size())
- throw std::logic_error("Operator*=: vectors have different sizes");
- for (unsigned int i = 0; i < n; i++)
- v[i] *= rhs[i];
-
- return *this;
-}
-
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator*=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- v[i] *= a;
-
- return *this;
-}
-
-template <typename T>
-inline Vector<T> operator*(const Vector<T>& lhs, const Vector<T>& rhs)
-{
- if (lhs.size() != rhs.size())
- throw std::logic_error("Operator*: vectors have different sizes");
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = lhs[i] * rhs[i];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator*(const Vector<T>& lhs, const T& a)
-{
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = lhs[i] * a;
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator*(const T& a, const Vector<T>& rhs)
-{
- Vector<T> tmp(rhs.size());
- for (unsigned int i = 0; i < rhs.size(); i++)
- tmp[i] = a * rhs[i];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator/=(const Vector<T>& rhs)
-{
- if (this->size() != rhs.size())
- throw std::logic_error("Operator/=: vectors have different sizes");
- for (unsigned int i = 0; i < n; i++)
- v[i] /= rhs[i];
-
- return *this;
-}
-
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator/=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- v[i] /= a;
-
- return *this;
-}
-
-template <typename T>
-inline Vector<T> operator/(const Vector<T>& lhs, const Vector<T>& rhs)
-{
- if (lhs.size() != rhs.size())
- throw std::logic_error("Operator/: vectors have different sizes");
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = lhs[i] / rhs[i];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator/(const Vector<T>& lhs, const T& a)
-{
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = lhs[i] / a;
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator/(const T& a, const Vector<T>& rhs)
-{
- Vector<T> tmp(rhs.size());
- for (unsigned int i = 0; i < rhs.size(); i++)
- tmp[i] = a / rhs[i];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator^(const Vector<T>& lhs, const Vector<T>& rhs)
-{
- if (lhs.size() != rhs.size())
- throw std::logic_error("Operator^: vectors have different sizes");
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = pow(lhs[i], rhs[i]);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator^(const Vector<T>& lhs, const T& a)
-{
- Vector<T> tmp(lhs.size());
- for (unsigned int i = 0; i < lhs.size(); i++)
- tmp[i] = pow(lhs[i], a);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> operator^(const T& a, const Vector<T>& rhs)
-{
- Vector<T> tmp(rhs.size());
- for (unsigned int i = 0; i < rhs.size(); i++)
- tmp[i] = pow(a, rhs[i]);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator^=(const Vector<T>& rhs)
-{
- if (this->size() != rhs.size())
- throw std::logic_error("Operator^=: vectors have different sizes");
- for (unsigned int i = 0; i < n; i++)
- v[i] = pow(v[i], rhs[i]);
-
- return *this;
-}
-
-template <typename T>
-inline Vector<T>& Vector<T>::operator^=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- v[i] = pow(v[i], a);
-
- return *this;
-}
-
-template <typename T>
-inline bool operator==(const Vector<T>& v, const Vector<T>& w)
-{
- if (v.size() != w.size())
- throw std::logic_error("Vectors of different size are not confrontable");
- for (unsigned i = 0; i < v.size(); i++)
- if (v[i] != w[i])
- return false;
- return true;
-}
-
-template <typename T>
-inline bool operator!=(const Vector<T>& v, const Vector<T>& w)
-{
- if (v.size() != w.size())
- throw std::logic_error("Vectors of different size are not confrontable");
- for (unsigned i = 0; i < v.size(); i++)
- if (v[i] != w[i])
- return true;
- return false;
-}
-
-template <typename T>
-inline bool operator<(const Vector<T>& v, const Vector<T>& w)
-{
- if (v.size() != w.size())
- throw std::logic_error("Vectors of different size are not confrontable");
- for (unsigned i = 0; i < v.size(); i++)
- if (v[i] >= w[i])
- return false;
- return true;
-}
-
-template <typename T>
-inline bool operator<=(const Vector<T>& v, const Vector<T>& w)
-{
- if (v.size() != w.size())
- throw std::logic_error("Vectors of different size are not confrontable");
- for (unsigned i = 0; i < v.size(); i++)
- if (v[i] > w[i])
- return false;
- return true;
-}
-
-template <typename T>
-inline bool operator>(const Vector<T>& v, const Vector<T>& w)
-{
- if (v.size() != w.size())
- throw std::logic_error("Vectors of different size are not confrontable");
- for (unsigned i = 0; i < v.size(); i++)
- if (v[i] <= w[i])
- return false;
- return true;
-}
-
-template <typename T>
-inline bool operator>=(const Vector<T>& v, const Vector<T>& w)
-{
- if (v.size() != w.size())
- throw std::logic_error("Vectors of different size are not confrontable");
- for (unsigned i = 0; i < v.size(); i++)
- if (v[i] < w[i])
- return false;
- return true;
-}
-
-/**
- Input/Output
-*/
-template <typename T>
-inline std::ostream& operator<<(std::ostream& os, const Vector<T>& v)
-{
- os << std::endl << v.size() << std::endl;
- for (unsigned int i = 0; i < v.size() - 1; i++)
- os << std::setw(20) << std::setprecision(16) << v[i] << ", ";
- os << std::setw(20) << std::setprecision(16) << v[v.size() - 1] << std::endl;
-
- return os;
-}
-
-template <typename T>
-std::istream& operator>>(std::istream& is, Vector<T>& v)
-{
- int elements;
- char comma;
- is >> elements;
- v.resize(elements);
- for (unsigned int i = 0; i < elements; i++)
- is >> v[i] >> comma;
-
- return is;
-}
-
-/**
- Index utilities
-*/
-
-std::set<unsigned int> seq(unsigned int s, unsigned int e);
-
-std::set<unsigned int> singleton(unsigned int i);
-
-template <typename T>
-class CanonicalBaseVector : public Vector<T>
-{
-public:
- CanonicalBaseVector(unsigned int i, unsigned int n);
- inline void reset(unsigned int i);
-private:
- unsigned int e;
-};
-
-template <typename T>
-CanonicalBaseVector<T>::CanonicalBaseVector(unsigned int i, unsigned int n)
- : Vector<T>((T)0, n), e(i)
-{ (*this)[e] = (T)1; }
-
-template <typename T>
-inline void CanonicalBaseVector<T>::reset(unsigned int i)
-{
- (*this)[e] = (T)0;
- e = i;
- (*this)[e] = (T)1;
-}
-
-#include <stdexcept>
-
-template <typename T>
-inline T sum(const Vector<T>& v)
-{
- T tmp = (T)0;
- for (unsigned int i = 0; i < v.size(); i++)
- tmp += v[i];
-
- return tmp;
-}
-
-template <typename T>
-inline T prod(const Vector<T>& v)
-{
- T tmp = (T)1;
- for (unsigned int i = 0; i < v.size(); i++)
- tmp *= v[i];
-
- return tmp;
-}
-
-template <typename T>
-inline T mean(const Vector<T>& v)
-{
- T sum = (T)0;
- for (unsigned int i = 0; i < v.size(); i++)
- sum += v[i];
- return sum / v.size();
-}
-
-template <typename T>
-inline T median(const Vector<T>& v)
-{
- Vector<T> tmp = sort(v);
- if (v.size() % 2 == 1) // it is an odd-sized vector
- return tmp[v.size() / 2];
- else
- return 0.5 * (tmp[v.size() / 2 - 1] + tmp[v.size() / 2]);
-}
-
-template <typename T>
-inline T stdev(const Vector<T>& v, bool sample_correction = false)
-{
- return sqrt(var(v, sample_correction));
-}
-
-template <typename T>
-inline T var(const Vector<T>& v, bool sample_correction = false)
-{
- T sum = (T)0, ssum = (T)0;
- unsigned int n = v.size();
- for (unsigned int i = 0; i < n; i++)
- {
- sum += v[i];
- ssum += (v[i] * v[i]);
- }
- if (!sample_correction)
- return (ssum / n) - (sum / n) * (sum / n);
- else
- return n * ((ssum / n) - (sum / n) * (sum / n)) / (n - 1);
-}
-
-template <typename T>
-inline T max(const Vector<T>& v)
-{
- T value = v[0];
- for (unsigned int i = 1; i < v.size(); i++)
- value = std::max(v[i], value);
-
- return value;
-}
-
-template <typename T>
-inline T min(const Vector<T>& v)
-{
- T value = v[0];
- for (unsigned int i = 1; i < v.size(); i++)
- value = std::min(v[i], value);
-
- return value;
-}
-
-template <typename T>
-inline unsigned int index_max(const Vector<T>& v)
-{
- unsigned int max = 0;
- for (unsigned int i = 1; i < v.size(); i++)
- if (v[i] > v[max])
- max = i;
-
- return max;
-}
-
-template <typename T>
-inline unsigned int index_min(const Vector<T>& v)
-{
- unsigned int min = 0;
- for (unsigned int i = 1; i < v.size(); i++)
- if (v[i] < v[min])
- min = i;
-
- return min;
-}
-
-
-template <typename T>
-inline T dot_prod(const Vector<T>& a, const Vector<T>& b)
-{
- T sum = (T)0;
- if (a.size() != b.size())
- throw std::logic_error("Dotprod error: the vectors are not the same size");
- for (unsigned int i = 0; i < a.size(); i++)
- sum += a[i] * b[i];
-
- return sum;
-}
-
-/**
- Single element mathematical functions
-*/
-
-template <typename T>
-inline Vector<T> exp(const Vector<T>& v)
-{
- Vector<T> tmp(v.size());
- for (unsigned int i = 0; i < v.size(); i++)
- tmp[i] = exp(v[i]);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> log(const Vector<T>& v)
-{
- Vector<T> tmp(v.size());
- for (unsigned int i = 0; i < v.size(); i++)
- tmp[i] = log(v[i]);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> vec_sqrt(const Vector<T>& v)
-{
- Vector<T> tmp(v.size());
- for (unsigned int i = 0; i < v.size(); i++)
- tmp[i] = sqrt(v[i]);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> pow(const Vector<T>& v, double a)
-{
- Vector<T> tmp(v.size());
- for (unsigned int i = 0; i < v.size(); i++)
- tmp[i] = pow(v[i], a);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> abs(const Vector<T>& v)
-{
- Vector<T> tmp(v.size());
- for (unsigned int i = 0; i < v.size(); i++)
- tmp[i] = (T)fabs(v[i]);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> sign(const Vector<T>& v)
-{
- Vector<T> tmp(v.size());
- for (unsigned int i = 0; i < v.size(); i++)
- tmp[i] = v[i] > 0 ? +1 : v[i] == 0 ? 0 : -1;
-
- return tmp;
-}
-
-template <typename T>
-inline unsigned int partition(Vector<T>& v, unsigned int begin, unsigned int end)
-{
- unsigned int i = begin + 1, j = begin + 1;
- T pivot = v[begin];
- while (j <= end)
- {
- if (v[j] < pivot) {
- std::swap(v[i], v[j]);
- i++;
- }
- j++;
- }
- v[begin] = v[i - 1];
- v[i - 1] = pivot;
- return i - 2;
-}
-
-
-template <typename T>
-inline void quicksort(Vector<T>& v, unsigned int begin, unsigned int end)
-{
- if (end > begin)
- {
- unsigned int index = partition(v, begin, end);
- quicksort(v, begin, index);
- quicksort(v, index + 2, end);
- }
-}
-
-template <typename T>
-inline Vector<T> sort(const Vector<T>& v)
-{
- Vector<T> tmp(v);
-
- quicksort<T>(tmp, 0, tmp.size() - 1);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<double> rank(const Vector<T>& v)
-{
- Vector<T> tmp(v);
- Vector<double> tmp_rank(0.0, v.size());
-
- for (unsigned int i = 0; i < tmp.size(); i++)
- {
- unsigned int smaller = 0, equal = 0;
- for (unsigned int j = 0; j < tmp.size(); j++)
- if (i == j)
- continue;
- else
- if (tmp[j] < tmp[i])
- smaller++;
- else if (tmp[j] == tmp[i])
- equal++;
- tmp_rank[i] = smaller + 1;
- if (equal > 0)
- {
- for (unsigned int j = 1; j <= equal; j++)
- tmp_rank[i] += smaller + 1 + j;
- tmp_rank[i] /= (double)(equal + 1);
- }
- }
-
- return tmp_rank;
-}
-
-//enum MType { DIAG };
-
-template <typename T>
-class Matrix
-{
-public:
- Matrix(); // Default constructor
- Matrix(const unsigned int n, const unsigned int m); // Construct a n x m matrix
- Matrix(const T& a, const unsigned int n, const unsigned int m); // Initialize the content to constant a
- Matrix(MType t, const T& a, const T& o, const unsigned int n, const unsigned int m);
- Matrix(MType t, const Vector<T>& v, const T& o, const unsigned int n, const unsigned int m);
- Matrix(const T* a, const unsigned int n, const unsigned int m); // Initialize to array
- Matrix(const Matrix<T>& rhs); // Copy constructor
- ~Matrix(); // destructor
-
- inline T* operator[](const unsigned int& i) { return v[i]; } // Subscripting: row i
- inline const T* operator[](const unsigned int& i) const { return v[i]; }; // const subsctipting
-
- inline void resize(const unsigned int n, const unsigned int m);
- inline void resize(const T& a, const unsigned int n, const unsigned int m);
-
-
- inline Vector<T> extractRow(const unsigned int i) const;
- inline Vector<T> extractColumn(const unsigned int j) const;
- inline Vector<T> extractDiag() const;
- inline Matrix<T> extractRows(const std::set<unsigned int>& indexes) const;
- inline Matrix<T> extractColumns(const std::set<unsigned int>& indexes) const;
- inline Matrix<T> extract(const std::set<unsigned int>& r_indexes, const std::set<unsigned int>& c_indexes) const;
-
- inline void set(const T* a, unsigned int n, unsigned int m);
- inline void set(const std::set<unsigned int>& r_indexes, const std::set<unsigned int>& c_indexes, const Matrix<T>& m);
- inline void setRow(const unsigned int index, const Vector<T>& v);
- inline void setRow(const unsigned int index, const Matrix<T>& v);
- inline void setRows(const std::set<unsigned int>& indexes, const Matrix<T>& m);
- inline void setColumn(const unsigned int index, const Vector<T>& v);
- inline void setColumn(const unsigned int index, const Matrix<T>& v);
- inline void setColumns(const std::set<unsigned int>& indexes, const Matrix<T>& m);
-
-
- inline unsigned int nrows() const { return n; } // number of rows
- inline unsigned int ncols() const { return m; } // number of columns
-
- inline Matrix<T>& operator=(const Matrix<T>& rhs); // Assignment operator
- inline Matrix<T>& operator=(const T& a); // Assign to every element value a
- inline Matrix<T>& operator+=(const Matrix<T>& rhs);
- inline Matrix<T>& operator-=(const Matrix<T>& rhs);
- inline Matrix<T>& operator*=(const Matrix<T>& rhs);
- inline Matrix<T>& operator/=(const Matrix<T>& rhs);
- inline Matrix<T>& operator^=(const Matrix<T>& rhs);
- inline Matrix<T>& operator+=(const T& a);
- inline Matrix<T>& operator-=(const T& a);
- inline Matrix<T>& operator*=(const T& a);
- inline Matrix<T>& operator/=(const T& a);
- inline Matrix<T>& operator^=(const T& a);
- inline operator Vector<T>();
-private:
- unsigned int n; // number of rows
- unsigned int m; // number of columns
- T **v; // storage for data
-};
-
-template <typename T>
-Matrix<T>::Matrix()
- : n(0), m(0), v(0)
-{}
-
-template <typename T>
-Matrix<T>::Matrix(unsigned int n, unsigned int m)
- : v(new T*[n])
-{
- this->n = n; this->m = m;
- v[0] = new T[m * n];
- for (unsigned int i = 1; i < n; i++)
- v[i] = v[i - 1] + m;
-}
-
-template <typename T>
-Matrix<T>::Matrix(const T& a, unsigned int n, unsigned int m)
- : v(new T*[n])
-{
- this->n = n; this->m = m;
- v[0] = new T[m * n];
- for (unsigned int i = 1; i < n; i++)
- v[i] = v[i - 1] + m;
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = a;
-}
-
-template <class T>
-Matrix<T>::Matrix(const T* a, unsigned int n, unsigned int m)
- : v(new T*[n])
-{
- this->n = n; this->m = m;
- v[0] = new T[m * n];
- for (unsigned int i = 1; i < n; i++)
- v[i] = v[i - 1] + m;
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = *a++;
-}
-
-template <class T>
-Matrix<T>::Matrix(MType t, const T& a, const T& o, unsigned int n, unsigned int m)
- : v(new T*[n])
-{
- this->n = n; this->m = m;
- v[0] = new T[m * n];
- for (unsigned int i = 1; i < n; i++)
- v[i] = v[i - 1] + m;
- switch (t)
- {
- case DIAG:
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- if (i != j)
- v[i][j] = o;
- else
- v[i][j] = a;
- break;
- default:
- throw std::logic_error("Matrix type not supported");
- }
-}
-
-template <class T>
-Matrix<T>::Matrix(MType t, const Vector<T>& a, const T& o, unsigned int n, unsigned int m)
- : v(new T*[n])
-{
- this->n = n; this->m = m;
- v[0] = new T[m * n];
- for (unsigned int i = 1; i < n; i++)
- v[i] = v[i - 1] + m;
- switch (t)
- {
- case DIAG:
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- if (i != j)
- v[i][j] = o;
- else
- v[i][j] = a[i];
- break;
- default:
- throw std::logic_error("Matrix type not supported");
- }
-}
-
-template <typename T>
-Matrix<T>::Matrix(const Matrix<T>& rhs)
- : v(new T*[rhs.n])
-{
- n = rhs.n; m = rhs.m;
- v[0] = new T[m * n];
- for (unsigned int i = 1; i < n; i++)
- v[i] = v[i - 1] + m;
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = rhs[i][j];
-}
-
-template <typename T>
-Matrix<T>::~Matrix()
-{
- if (v != 0) {
- delete[] (v[0]);
- delete[] (v);
- }
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator=(const Matrix<T> &rhs)
-// postcondition: normal assignment via copying has been performed;
-// if matrix and rhs were different sizes, matrix
-// has been resized to match the size of rhs
-{
- if (this != &rhs)
- {
- resize(rhs.n, rhs.m);
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = rhs[i][j];
- }
- return *this;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator=(const T& a) // assign a to every element
-{
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = a;
- return *this;
-}
-
-
-template <typename T>
-inline void Matrix<T>::resize(const unsigned int n, const unsigned int m)
-{
- if (n == this->n && m == this->m)
- return;
- if (v != 0)
- {
- delete[] (v[0]);
- delete[] (v);
- }
- this->n = n; this->m = m;
- v = new T*[n];
- v[0] = new T[m * n];
- for (unsigned int i = 1; i < n; i++)
- v[i] = v[i - 1] + m;
-}
-
-template <typename T>
-inline void Matrix<T>::resize(const T& a, const unsigned int n, const unsigned int m)
-{
- resize(n, m);
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = a;
-}
-
-
-
-template <typename T>
-inline Vector<T> Matrix<T>::extractRow(const unsigned int i) const
-{
- if (i >= n)
- throw std::logic_error("Error in extractRow: trying to extract a row out of matrix bounds");
- Vector<T> tmp(v[i], m);
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> Matrix<T>::extractColumn(const unsigned int j) const
-{
- if (j >= m)
- throw std::logic_error("Error in extractRow: trying to extract a row out of matrix bounds");
- Vector<T> tmp(n);
-
- for (unsigned int i = 0; i < n; i++)
- tmp[i] = v[i][j];
-
- return tmp;
-}
-
-template <typename T>
-inline Vector<T> Matrix<T>::extractDiag() const
-{
- unsigned int d = std::min(n, m);
-
- Vector<T> tmp(d);
-
- for (unsigned int i = 0; i < d; i++)
- tmp[i] = v[i][i];
-
- return tmp;
-
-}
-
-template <typename T>
-inline Matrix<T> Matrix<T>::extractRows(const std::set<unsigned int>& indexes) const
-{
- Matrix<T> tmp(indexes.size(), m);
- unsigned int i = 0;
-
- for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
- {
- for (unsigned int j = 0; j < m; j++)
- {
- if (*el >= n)
- throw std::logic_error("Error extracting rows: the indexes are out of matrix bounds");
- tmp[i][j] = v[*el][j];
- }
- i++;
- }
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<T> Matrix<T>::extractColumns(const std::set<unsigned int>& indexes) const
-{
- Matrix<T> tmp(n, indexes.size());
- unsigned int j = 0;
-
- for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
- {
- for (unsigned int i = 0; i < n; i++)
- {
- if (*el >= m)
- throw std::logic_error("Error extracting columns: the indexes are out of matrix bounds");
- tmp[i][j] = v[i][*el];
- }
- j++;
- }
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<T> Matrix<T>::extract(const std::set<unsigned int>& r_indexes, const std::set<unsigned int>& c_indexes) const
-{
- Matrix<T> tmp(r_indexes.size(), c_indexes.size());
- unsigned int i = 0, j;
-
- for (std::set<unsigned int>::const_iterator r_el = r_indexes.begin(); r_el != r_indexes.end(); r_el++)
- {
- if (*r_el >= n)
- throw std::logic_error("Error extracting submatrix: the indexes are out of matrix bounds");
- j = 0;
- for (std::set<unsigned int>::const_iterator c_el = c_indexes.begin(); c_el != c_indexes.end(); c_el++)
- {
- if (*c_el >= m)
- throw std::logic_error("Error extracting rows: the indexes are out of matrix bounds");
- tmp[i][j] = v[*r_el][*c_el];
- j++;
- }
- i++;
- }
-
- return tmp;
-}
-
-template <typename T>
-inline void Matrix<T>::setRow(unsigned int i, const Vector<T>& a)
-{
- if (i >= n)
- throw std::logic_error("Error in setRow: trying to set a row out of matrix bounds");
- if (this->m != a.size())
- throw std::logic_error("Error setting matrix row: ranges are not compatible");
- for (unsigned int j = 0; j < ncols(); j++)
- v[i][j] = a[j];
-}
-
-template <typename T>
-inline void Matrix<T>::setRow(unsigned int i, const Matrix<T>& a)
-{
- if (i >= n)
- throw std::logic_error("Error in setRow: trying to set a row out of matrix bounds");
- if (this->m != a.ncols())
- throw std::logic_error("Error setting matrix column: ranges are not compatible");
- if (a.nrows() != 1)
- throw std::logic_error("Error setting matrix column with a non-row matrix");
- for (unsigned int j = 0; j < ncols(); j++)
- v[i][j] = a[0][j];
-}
-
-template <typename T>
-inline void Matrix<T>::setRows(const std::set<unsigned int>& indexes, const Matrix<T>& m)
-{
- unsigned int i = 0;
-
- if (indexes.size() != m.nrows() || this->m != m.ncols())
- throw std::logic_error("Error setting matrix rows: ranges are not compatible");
- for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
- {
- for (unsigned int j = 0; j < ncols(); j++)
- {
- if (*el >= n)
- throw std::logic_error("Error in setRows: trying to set a row out of matrix bounds");
- v[*el][j] = m[i][j];
- }
- i++;
- }
-}
-
-template <typename T>
-inline void Matrix<T>::setColumn(unsigned int j, const Vector<T>& a)
-{
- if (j >= m)
- throw std::logic_error("Error in setColumn: trying to set a column out of matrix bounds");
- if (this->n != a.size())
- throw std::logic_error("Error setting matrix column: ranges are not compatible");
- for (unsigned int i = 0; i < nrows(); i++)
- v[i][j] = a[i];
-}
-
-template <typename T>
-inline void Matrix<T>::setColumn(unsigned int j, const Matrix<T>& a)
-{
- if (j >= m)
- throw std::logic_error("Error in setColumn: trying to set a column out of matrix bounds");
- if (this->n != a.nrows())
- throw std::logic_error("Error setting matrix column: ranges are not compatible");
- if (a.ncols() != 1)
- throw std::logic_error("Error setting matrix column with a non-column matrix");
- for (unsigned int i = 0; i < nrows(); i++)
- v[i][j] = a[i][0];
-}
-
-
-template <typename T>
-inline void Matrix<T>::setColumns(const std::set<unsigned int>& indexes, const Matrix<T>& a)
-{
- unsigned int j = 0;
-
- if (indexes.size() != a.ncols() || this->n != a.nrows())
- throw std::logic_error("Error setting matrix columns: ranges are not compatible");
- for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
- {
- for (unsigned int i = 0; i < nrows(); i++)
- {
- if (*el >= m)
- throw std::logic_error("Error in setColumns: trying to set a column out of matrix bounds");
- v[i][*el] = a[i][j];
- }
- j++;
- }
-}
-
-template <typename T>
-inline void Matrix<T>::set(const std::set<unsigned int>& r_indexes, const std::set<unsigned int>& c_indexes, const Matrix<T>& a)
-{
- unsigned int i = 0, j;
- if (c_indexes.size() != a.ncols() || r_indexes.size() != a.nrows())
- throw std::logic_error("Error setting matrix elements: ranges are not compatible");
-
- for (std::set<unsigned int>::const_iterator r_el = r_indexes.begin(); r_el != r_indexes.end(); r_el++)
- {
- if (*r_el >= n)
- throw std::logic_error("Error in set: trying to set a row out of matrix bounds");
- j = 0;
- for (std::set<unsigned int>::const_iterator c_el = c_indexes.begin(); c_el != c_indexes.end(); c_el++)
- {
- if (*c_el >= m)
- throw std::logic_error("Error in set: trying to set a column out of matrix bounds");
- v[*r_el][*c_el] = a[i][j];
- j++;
- }
- i++;
- }
-}
-
-template <typename T>
-inline void Matrix<T>::set(const T* a, unsigned int n, unsigned int m)
-{
- if (this->n != n || this->m != m)
- resize(n, m);
- unsigned int k = 0;
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = a[k++];
-}
-
-
-template <typename T>
-Matrix<T> operator+(const Matrix<T>& rhs)
-{
- return rhs;
-}
-
-template <typename T>
-Matrix<T> operator+(const Matrix<T>& lhs, const Matrix<T>& rhs)
-{
- if (lhs.ncols() != rhs.ncols() || lhs.nrows() != rhs.nrows())
- throw std::logic_error("Operator+: matrices have different sizes");
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = lhs[i][j] + rhs[i][j];
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> operator+(const Matrix<T>& lhs, const T& a)
-{
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = lhs[i][j] + a;
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> operator+(const T& a, const Matrix<T>& rhs)
-{
- Matrix<T> tmp(rhs.nrows(), rhs.ncols());
- for (unsigned int i = 0; i < rhs.nrows(); i++)
- for (unsigned int j = 0; j < rhs.ncols(); j++)
- tmp[i][j] = a + rhs[i][j];
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator+=(const Matrix<T>& rhs)
-{
- if (m != rhs.ncols() || n != rhs.nrows())
- throw std::logic_error("Operator+=: matrices have different sizes");
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] += rhs[i][j];
-
- return *this;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator+=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] += a;
-
- return *this;
-}
-
-template <typename T>
-Matrix<T> operator-(const Matrix<T>& rhs)
-{
- return (T)(-1) * rhs;
-}
-
-template <typename T>
-Matrix<T> operator-(const Matrix<T>& lhs, const Matrix<T>& rhs)
-{
- if (lhs.ncols() != rhs.ncols() || lhs.nrows() != rhs.nrows())
- throw std::logic_error("Operator-: matrices have different sizes");
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = lhs[i][j] - rhs[i][j];
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> operator-(const Matrix<T>& lhs, const T& a)
-{
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = lhs[i][j] - a;
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> operator-(const T& a, const Matrix<T>& rhs)
-{
- Matrix<T> tmp(rhs.nrows(), rhs.ncols());
- for (unsigned int i = 0; i < rhs.nrows(); i++)
- for (unsigned int j = 0; j < rhs.ncols(); j++)
- tmp[i][j] = a - rhs[i][j];
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator-=(const Matrix<T>& rhs)
-{
- if (m != rhs.ncols() || n != rhs.nrows())
- throw std::logic_error("Operator-=: matrices have different sizes");
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] -= rhs[i][j];
-
- return *this;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator-=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] -= a;
-
- return *this;
-}
-
-template <typename T>
-Matrix<T> operator*(const Matrix<T>& lhs, const Matrix<T>& rhs)
-{
- if (lhs.ncols() != rhs.ncols() || lhs.nrows() != rhs.nrows())
- throw std::logic_error("Operator*: matrices have different sizes");
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = lhs[i][j] * rhs[i][j];
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> operator*(const Matrix<T>& lhs, const T& a)
-{
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = lhs[i][j] * a;
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> operator*(const T& a, const Matrix<T>& rhs)
-{
- Matrix<T> tmp(rhs.nrows(), rhs.ncols());
- for (unsigned int i = 0; i < rhs.nrows(); i++)
- for (unsigned int j = 0; j < rhs.ncols(); j++)
- tmp[i][j] = a * rhs[i][j];
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator*=(const Matrix<T>& rhs)
-{
- if (m != rhs.ncols() || n != rhs.nrows())
- throw std::logic_error("Operator*=: matrices have different sizes");
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] *= rhs[i][j];
-
- return *this;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator*=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] *= a;
-
- return *this;
-}
-
-template <typename T>
-Matrix<T> operator/(const Matrix<T>& lhs, const Matrix<T>& rhs)
-{
- if (lhs.ncols() != rhs.ncols() || lhs.nrows() != rhs.nrows())
- throw std::logic_error("Operator+: matrices have different sizes");
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = lhs[i][j] / rhs[i][j];
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> operator/(const Matrix<T>& lhs, const T& a)
-{
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = lhs[i][j] / a;
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> operator/(const T& a, const Matrix<T>& rhs)
-{
- Matrix<T> tmp(rhs.nrows(), rhs.ncols());
- for (unsigned int i = 0; i < rhs.nrows(); i++)
- for (unsigned int j = 0; j < rhs.ncols(); j++)
- tmp[i][j] = a / rhs[i][j];
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator/=(const Matrix<T>& rhs)
-{
- if (m != rhs.ncols() || n != rhs.nrows())
- throw std::logic_error("Operator+=: matrices have different sizes");
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] /= rhs[i][j];
-
- return *this;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator/=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] /= a;
-
- return *this;
-}
-
-template <typename T>
-Matrix<T> operator^(const Matrix<T>& lhs, const T& a)
-{
- Matrix<T> tmp(lhs.nrows(), lhs.ncols());
- for (unsigned int i = 0; i < lhs.nrows(); i++)
- for (unsigned int j = 0; j < lhs.ncols(); j++)
- tmp[i][j] = pow(lhs[i][j], a);
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator^=(const Matrix<T>& rhs)
-{
- if (m != rhs.ncols() || n != rhs.nrows())
- throw std::logic_error("Operator^=: matrices have different sizes");
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = pow(v[i][j], rhs[i][j]);
-
- return *this;
-}
-
-
-template <typename T>
-inline Matrix<T>& Matrix<T>::operator^=(const T& a)
-{
- for (unsigned int i = 0; i < n; i++)
- for (unsigned int j = 0; j < m; j++)
- v[i][j] = pow(v[i][j], a);
-
- return *this;
-}
-
-template <typename T>
-inline Matrix<T>::operator Vector<T>()
-{
- if (n > 1 && m > 1)
- throw std::logic_error("Error matrix cast to vector: trying to cast a multi-dimensional matrix");
- if (n == 1)
- return extractRow(0);
- else
- return extractColumn(0);
-}
-
-template <typename T>
-inline bool operator==(const Matrix<T>& a, const Matrix<T>& b)
-{
- if (a.nrows() != b.nrows() || a.ncols() != b.ncols())
- throw std::logic_error("Matrices of different size are not confrontable");
- for (unsigned i = 0; i < a.nrows(); i++)
- for (unsigned j = 0; j < a.ncols(); j++)
- if (a[i][j] != b[i][j])
- return false;
- return true;
-}
-
-template <typename T>
-inline bool operator!=(const Matrix<T>& a, const Matrix<T>& b)
-{
- if (a.nrows() != b.nrows() || a.ncols() != b.ncols())
- throw std::logic_error("Matrices of different size are not confrontable");
- for (unsigned i = 0; i < a.nrows(); i++)
- for (unsigned j = 0; j < a.ncols(); j++)
- if (a[i][j] != b[i][j])
- return true;
- return false;
-}
-
-
-
-/**
- Input/Output
-*/
-template <typename T>
-std::ostream& operator<<(std::ostream& os, const Matrix<T>& m)
-{
- os << std::endl << m.nrows() << " " << m.ncols() << std::endl;
- for (unsigned int i = 0; i < m.nrows(); i++)
- {
- for (unsigned int j = 0; j < m.ncols() - 1; j++)
- os << std::setw(20) << std::setprecision(16) << m[i][j] << ", ";
- os << std::setw(20) << std::setprecision(16) << m[i][m.ncols() - 1] << std::endl;
- }
-
- return os;
-}
-
-template <typename T>
-std::istream& operator>>(std::istream& is, Matrix<T>& m)
-{
- int rows, cols;
- char comma;
- is >> rows >> cols;
- m.resize(rows, cols);
- for (unsigned int i = 0; i < rows; i++)
- for (unsigned int j = 0; j < cols; j++)
- is >> m[i][j] >> comma;
-
- return is;
-}
-
-template <typename T>
-T sign(const T& v)
-{
- if (v >= (T)0.0)
- return (T)1.0;
- else
- return (T)-1.0;
-}
-
-template <typename T>
-T dist(const T& a, const T& b)
-{
- T abs_a = (T)fabs(a), abs_b = (T)fabs(b);
- if (abs_a > abs_b)
- return abs_a * sqrt((T)1.0 + (abs_b / abs_a) * (abs_b / abs_a));
- else
- return (abs_b == (T)0.0 ? (T)0.0 : abs_b * sqrt((T)1.0 + (abs_a / abs_b) * (abs_a / abs_b)));
-}
-
-template <typename T>
-void svd(const Matrix<T>& A, Matrix<T>& U, Vector<T>& W, Matrix<T>& V)
-{
- int m = A.nrows(), n = A.ncols(), i, j, k, l, jj, nm;
- const unsigned int max_its = 30;
- bool flag;
- Vector<T> rv1(n);
- U = A;
- W.resize(n);
- V.resize(n, n);
- T anorm, c, f, g, h, s, scale, x, y, z;
- g = scale = anorm = (T)0.0;
-
- // Householder reduction to bidiagonal form
- for (i = 0; i < n; i++)
- {
- l = i + 1;
- rv1[i] = scale * g;
- g = s = scale = (T)0.0;
- if (i < m)
- {
- for (k = i; k < m; k++)
- scale += fabs(U[k][i]);
- if (scale != (T)0.0)
- {
- for (k = i; k < m; k++)
- {
- U[k][i] /= scale;
- s += U[k][i] * U[k][i];
- }
- f = U[i][i];
- g = -sign(f) * sqrt(s);
- h = f * g - s;
- U[i][i] = f - g;
- for (j = l; j < n; j++)
- {
- s = (T)0.0;
- for (k = i; k < m; k++)
- s += U[k][i] * U[k][j];
- f = s / h;
- for (k = i; k < m; k++)
- U[k][j] += f * U[k][i];
- }
- for (k = i; k < m; k++)
- U[k][i] *= scale;
- }
- }
- W[i] = scale * g;
- g = s = scale = (T)0.0;
- if (i < m && i != n - 1)
- {
- for (k = l; k < n; k++)
- scale += fabs(U[i][k]);
- if (scale != (T)0.0)
- {
- for (k = l; k < n; k++)
- {
- U[i][k] /= scale;
- s += U[i][k] * U[i][k];
- }
- f = U[i][l];
- g = -sign(f) * sqrt(s);
- h = f * g - s;
- U[i][l] = f - g;
- for (k = l; k <n; k++)
- rv1[k] = U[i][k] / h;
- for (j = l; j < m; j++)
- {
- s = (T)0.0;
- for (k = l; k < n; k++)
- s += U[j][k] * U[i][k];
- for (k = l; k < n; k++)
- U[j][k] += s * rv1[k];
- }
- for (k = l; k < n; k++)
- U[i][k] *= scale;
- }
- }
- anorm = std::max(anorm, fabs(W[i]) + fabs(rv1[i]));
- }
- // Accumulation of right-hand transformations
- for (i = n - 1; i >= 0; i--)
- {
- if (i < n - 1)
- {
- if (g != (T)0.0)
- {
- for (j = l; j < n; j++)
- V[j][i] = (U[i][j] / U[i][l]) / g;
- for (j = l; j < n; j++)
- {
- s = (T)0.0;
- for (k = l; k < n; k++)
- s += U[i][k] * V[k][j];
- for (k = l; k < n; k++)
- V[k][j] += s * V[k][i];
- }
- }
- for (j = l; j < n; j++)
- V[i][j] = V[j][i] = (T)0.0;
- }
- V[i][i] = (T)1.0;
- g = rv1[i];
- l = i;
- }
- // Accumulation of left-hand transformations
- for (i = std::min(m, n) - 1; i >= 0; i--)
- {
- l = i + 1;
- g = W[i];
- for (j = l; j < n; j++)
- U[i][j] = (T)0.0;
- if (g != (T)0.0)
- {
- g = (T)1.0 / g;
- for (j = l; j < n; j++)
- {
- s = (T)0.0;
- for (k = l; k < m; k++)
- s += U[k][i] * U[k][j];
- f = (s / U[i][i]) * g;
- for (k = i; k < m; k++)
- U[k][j] += f * U[k][i];
- }
- for (j = i; j < m; j++)
- U[j][i] *= g;
- }
- else
- for (j = i; j < m; j++)
- U[j][i] = (T)0.0;
- U[i][i]++;
- }
- // Diagonalization of the bidiagonal form: loop over singular values, and over allowed iterations.
- for (k = n - 1; k >= 0; k--)
- {
- for (unsigned int its = 0; its < max_its; its++)
- {
- flag = true;
- for (l = k; l >= 0; l--)
- { // Test for splitting
- nm = l - 1; // Note that rV[0] is always zero
- if ((T)(fabs(rv1[l]) + anorm) == anorm)
- {
- flag = false;
- break;
- }
- if ((T)(fabs(W[nm]) + anorm) == anorm)
- break;
- }
- if (flag)
- {
- // Cancellation of rv1[l], if l > 0 FIXME: it was l > 1 in NR
- c = (T)0.0;
- s = (T)1.0;
- for (i = l; i <= k; i++)
- {
- f = s * rv1[i];
- rv1[i] *= c;
- if ((T)(fabs(f) + anorm) == anorm)
- break;
- g = W[i];
- h = dist(f, g);
- W[i] = h;
- h = (T)1.0 / h;
- c = g * h;
- s = -f * h;
- for (j = 0; j < m; j++)
- {
- y = U[j][nm];
- z = U[j][i];
- U[j][nm] = y * c + z * s;
- U[j][i] = z * c - y * s;
- }
- }
- }
- z = W[k];
- if (l == k)
- { // Convergence
- if (z < (T)0.0)
- { // Singular value is made nonnegative
- W[k] = -z;
- for (j = 0; j < n; j++)
- V[j][k] = -V[j][k];
- }
- break;
- }
- if (its == max_its)
- throw std::logic_error("Error svd: no convergence in the maximum number of iterations");
- x = W[l];
- nm = k - 1;
- y = W[nm];
- g = rv1[nm];
- h = rv1[k];
- f = ((y - z) * (y + z) + (g - h) * (g + h)) / (2.0 * h * y);
- g = dist(f, (T)1.0);
- f = ((x - z) * (x + z) + h * ((y / (f + sign(f)*fabs(g))) - h)) / x;
- c = s = (T)1.0; // Next QR transformation
- for (j = l; j <= nm; j++)
- {
- i = j + 1;
- g = rv1[i];
- y = W[i];
- h = s * g;
- g *= c;
- z = dist(f, h);
- rv1[j] = z;
- c = f / z;
- s = h / z;
- f = x * c + g * s;
- g = g * c - x * s;
- h = y * s;
- y *= c;
- for (jj = 0; jj < n; jj++)
- {
- x = V[jj][j];
- z = V[jj][i];
- V[jj][j] = x * c + z * s;
- V[jj][i] = z * c - x * s;
- }
- z = dist(f, h);
- W[j] = z;
- if (z != 0) // Rotation can be arbitrary if z = 0
- {
- z = (T)1.0 / z;
- c = f * z;
- s = h * z;
- }
- f = c * g + s * y;
- x = c * y - s * g;
- for (jj = 0; jj < m; jj++)
- {
- y = U[jj][j];
- z = U[jj][i];
- U[jj][j] = y * c + z * s;
- U[jj][i] = z * c - y * s;
- }
- }
- rv1[l] = (T)0.0;
- rv1[k] = f;
- W[k] = x;
- }
- }
-}
-
-template <typename T>
-Matrix<T> pinv(const Matrix<T>& A)
-{
- Matrix<T> U, V, x, tmp(A.ncols(), A.nrows());
- Vector<T> W;
- CanonicalBaseVector<T> e(0, A.nrows());
- svd(A, U, W, V);
- for (unsigned int i = 0; i < A.nrows(); i++)
- {
- e.reset(i);
- tmp.setColumn(i, dot_prod(dot_prod(dot_prod(V, Matrix<double>(DIAG, 1.0 / W, 0.0, W.size(), W.size())), t(U)), e));
- }
-
- return tmp;
-}
-
-template <typename T>
-int lu(const Matrix<T>& A, Matrix<T>& LU, Vector<unsigned int>& index)
-{
- if (A.ncols() != A.nrows())
- throw std::logic_error("Error in LU decomposition: matrix must be squared");
- int i, p, j, k, n = A.ncols(), ex;
- T val, tmp;
- Vector<T> d(n);
- LU = A;
- index.resize(n);
-
- ex = 1;
- for (i = 0; i < n; i++)
- {
- index[i] = i;
- val = (T)0.0;
- for (j = 0; j < n; j++)
- val = std::max(val, (T)fabs(LU[i][j]));
- if (val == (T)0.0)
- std::logic_error("Error in LU decomposition: matrix was singular");
- d[i] = val;
- }
-
- for (k = 0; k < n - 1; k++)
- {
- p = k;
- val = fabs(LU[k][k]) / d[k];
- for (i = k + 1; i < n; i++)
- {
- tmp = fabs(LU[i][k]) / d[i];
- if (tmp > val)
- {
- val = tmp;
- p = i;
- }
- }
- if (val == (T)0.0)
- std::logic_error("Error in LU decomposition: matrix was singular");
- if (p > k)
- {
- ex = -ex;
- std::swap(index[k], index[p]);
- std::swap(d[k], d[p]);
- for (j = 0; j < n; j++)
- std::swap(LU[k][j], LU[p][j]);
- }
-
- for (i = k + 1; i < n; i++)
- {
- LU[i][k] /= LU[k][k];
- for (j = k + 1; j < n; j++)
- LU[i][j] -= LU[i][k] * LU[k][j];
- }
- }
- if (LU[n - 1][n - 1] == (T)0.0)
- std::logic_error("Error in LU decomposition: matrix was singular");
-
- return ex;
-}
-
-template <typename T>
-Vector<T> lu_solve(const Matrix<T>& LU, const Vector<T>& b, Vector<unsigned int>& index)
-{
- if (LU.ncols() != LU.nrows())
- throw std::logic_error("Error in LU solve: LU matrix should be squared");
- unsigned int n = LU.ncols();
- if (b.size() != n)
- throw std::logic_error("Error in LU solve: b vector must be of the same dimensions of LU matrix");
- Vector<T> x((T)0.0, n);
- int i, j, p;
- T sum;
-
- p = index[0];
- x[0] = b[p];
-
- for (i = 1; i < n; i++)
- {
- sum = (T)0.0;
- for (j = 0; j < i; j++)
- sum += LU[i][j] * x[j];
- p = index[i];
- x[i] = b[p] - sum;
- }
- x[n - 1] /= LU[n - 1][n - 1];
- for (i = n - 2; i >= 0; i--)
- {
- sum = (T)0.0;
- for (j = i + 1; j < n; j++)
- sum += LU[i][j] * x[j];
- x[i] = (x[i] - sum) / LU[i][i];
- }
- return x;
-}
-
-template <typename T>
-void lu_solve(const Matrix<T>& LU, Vector<T>& x, const Vector<T>& b, Vector<unsigned int>& index)
-{
- x = lu_solve(LU, b, index);
-}
-
-template <typename T>
-Matrix<T> lu_inverse(const Matrix<T>& A)
-{
- if (A.ncols() != A.nrows())
- throw std::logic_error("Error in LU invert: matrix must be squared");
- unsigned int n = A.ncols();
- Matrix<T> A1(n, n), LU;
- Vector<unsigned int> index;
-
- lu(A, LU, index);
- CanonicalBaseVector<T> e(0, n);
- for (unsigned i = 0; i < n; i++)
- {
- e.reset(i);
- A1.setColumn(i, lu_solve(LU, e, index));
- }
-
- return A1;
-}
-
-template <typename T>
-T lu_det(const Matrix<T>& A)
-{
- if (A.ncols() != A.nrows())
- throw std::logic_error("Error in LU determinant: matrix must be squared");
- unsigned int d;
- Matrix<T> LU;
- Vector<unsigned int> index;
-
- d = lu(A, LU, index);
-
- return d * prod(LU.extractDiag());
-}
-
-template <typename T>
-void cholesky(const Matrix<T> A, Matrix<T>& LL)
-{
- if (A.ncols() != A.nrows())
- throw std::logic_error("Error in Cholesky decomposition: matrix must be squared");
- int n = A.ncols();
- double sum;
- LL = A;
-
- for (unsigned int i = 0; i < n; i++)
- {
- for (unsigned int j = i; j < n; j++)
- {
- sum = LL[i][j];
- for (int k = i - 1; k >= 0; k--)
- sum -= LL[i][k] * LL[j][k];
- if (i == j)
- {
- if (sum <= 0.0)
- throw std::logic_error("Error in Cholesky decomposition: matrix is not postive definite");
- LL[i][i] = sqrt(sum);
- }
- else
- LL[j][i] = sum / LL[i][i];
- }
- for (unsigned int k = i + 1; k < n; k++)
- LL[i][k] = LL[k][i];
- }
-}
-
-template <typename T>
-Matrix<T> cholesky(const Matrix<T> A)
-{
- Matrix<T> LL;
- cholesky(A, LL);
-
- return LL;
-}
-
-template <typename T>
-Vector<T> cholesky_solve(const Matrix<T>& LL, const Vector<T>& b)
-{
- if (LL.ncols() != LL.nrows())
- throw std::logic_error("Error in Cholesky solve: matrix must be squared");
- unsigned int n = LL.ncols();
- if (b.size() != n)
- throw std::logic_error("Error in Cholesky decomposition: b vector must be of the same dimensions of LU matrix");
- Vector<T> x, y;
-
- /* Solve L * y = b */
- forward_elimination(LL, y, b);
- /* Solve L^T * x = y */
- backward_elimination(LL, x, y);
-
- return x;
-}
-
-template <typename T>
-void cholesky_solve(const Matrix<T>& LL, Vector<T>& x, const Vector<T>& b)
-{
- x = cholesky_solve(LL, b);
-}
-
-template <typename T>
-void forward_elimination(const Matrix<T>& L, Vector<T>& y, const Vector<T> b)
-{
- if (L.ncols() != L.nrows())
- throw std::logic_error("Error in Forward elimination: matrix must be squared (lower triangular)");
- if (b.size() != L.nrows())
- throw std::logic_error("Error in Forward elimination: b vector must be of the same dimensions of L matrix");
- unsigned int n = b.size();
- y.resize(n);
-
- y[0] = b[0] / L[0][0];
- for (unsigned int i = 1; i < n; i++)
- {
- y[i] = b[i];
- for (unsigned int j = 0; j < i; j++)
- y[i] -= L[i][j] * y[j];
- y[i] = y[i] / L[i][i];
- }
-}
-
-template <typename T>
-Vector<T> forward_elimination(const Matrix<T>& L, const Vector<T> b)
-{
- Vector<T> y;
- forward_elimination(L, y, b);
-
- return y;
-}
-
-template <typename T>
-void backward_elimination(const Matrix<T>& U, Vector<T>& x, const Vector<T>& y)
-{
- if (U.ncols() != U.nrows())
- throw std::logic_error("Error in Backward elimination: matrix must be squared (upper triangular)");
- if (y.size() != U.nrows())
- throw std::logic_error("Error in Backward elimination: b vector must be of the same dimensions of U matrix");
- int n = y.size();
- x.resize(n);
-
- x[n - 1] = y[n - 1] / U[n - 1][n - 1];
- for (int i = n - 2; i >= 0; i--)
- {
- x[i] = y[i];
- for (int j = i + 1; j < n; j++)
- x[i] -= U[i][j] * x[j];
- x[i] = x[i] / U[i][i];
- }
-}
-
-template <typename T>
-Vector<T> backward_elimination(const Matrix<T>& U, const Vector<T> y)
-{
- Vector<T> x;
- forward_elimination(U, x, y);
-
- return x;
-}
-
-/* Setting default linear systems machinery */
-
-// #define det lu_det
-// #define inverse lu_inverse
-// #define solve lu_solve
-
-/* Random */
-
-template <typename T>
-void random(Matrix<T>& m)
-{
- for (unsigned int i = 0; i < m.nrows(); i++)
- for (unsigned int j = 0; j < m.ncols(); j++)
- m[i][j] = (T)(rand() / double(RAND_MAX));
-}
-
-/**
- Aggregate functions
-*/
-
-template <typename T>
-Vector<T> sum(const Matrix<T>& m)
-{
- Vector<T> tmp((T)0, m.ncols());
- for (unsigned int j = 0; j < m.ncols(); j++)
- for (unsigned int i = 0; i < m.nrows(); i++)
- tmp[j] += m[i][j];
- return tmp;
-}
-
-template <typename T>
-Vector<T> r_sum(const Matrix<T>& m)
-{
- Vector<T> tmp((T)0, m.nrows());
- for (unsigned int i = 0; i < m.nrows(); i++)
- for (unsigned int j = 0; j < m.ncols(); j++)
- tmp[i] += m[i][j];
- return tmp;
-}
-
-template <typename T>
-T all_sum(const Matrix<T>& m)
-{
- T tmp = (T)0;
- for (unsigned int i = 0; i < m.nrows(); i++)
- for (unsigned int j = 0; j < m.ncols(); j++)
- tmp += m[i][j];
- return tmp;
-}
-
-template <typename T>
-Vector<T> prod(const Matrix<T>& m)
-{
- Vector<T> tmp((T)1, m.ncols());
- for (unsigned int j = 0; j < m.ncols(); j++)
- for (unsigned int i = 0; i < m.nrows(); i++)
- tmp[j] *= m[i][j];
- return tmp;
-}
-
-template <typename T>
-Vector<T> r_prod(const Matrix<T>& m)
-{
- Vector<T> tmp((T)1, m.nrows());
- for (unsigned int i = 0; i < m.nrows(); i++)
- for (unsigned int j = 0; j < m.ncols(); j++)
- tmp[i] *= m[i][j];
- return tmp;
-}
-
-template <typename T>
-T all_prod(const Matrix<T>& m)
-{
- T tmp = (T)1;
- for (unsigned int i = 0; i < m.nrows(); i++)
- for (unsigned int j = 0; j < m.ncols(); j++)
- tmp *= m[i][j];
- return tmp;
-}
-
-template <typename T>
-Vector<T> mean(const Matrix<T>& m)
-{
- Vector<T> res((T)0, m.ncols());
- for (unsigned int j = 0; j < m.ncols(); j++)
- {
- for (unsigned int i = 0; i < m.nrows(); i++)
- res[j] += m[i][j];
- res[j] /= m.nrows();
- }
-
- return res;
-}
-
-template <typename T>
-Vector<T> r_mean(const Matrix<T>& m)
-{
- Vector<T> res((T)0, m.rows());
- for (unsigned int i = 0; i < m.nrows(); i++)
- {
- for (unsigned int j = 0; j < m.ncols(); j++)
- res[i] += m[i][j];
- res[i] /= m.nrows();
- }
-
- return res;
-}
-
-template <typename T>
-T all_mean(const Matrix<T>& m)
-{
- T tmp = (T)0;
- for (unsigned int i = 0; i < m.nrows(); i++)
- for (unsigned int j = 0; j < m.ncols(); j++)
- tmp += m[i][j];
- return tmp / (m.nrows() * m.ncols());
-}
-
-template <typename T>
-Vector<T> var(const Matrix<T>& m, bool sample_correction = false)
-{
- Vector<T> res((T)0, m.ncols());
- unsigned int n = m.nrows();
- double sum, ssum;
- for (unsigned int j = 0; j < m.ncols(); j++)
- {
- sum = (T)0.0; ssum = (T)0.0;
- for (unsigned int i = 0; i < m.nrows(); i++)
- {
- sum += m[i][j];
- ssum += (m[i][j] * m[i][j]);
- }
- if (!sample_correction)
- res[j] = (ssum / n) - (sum / n) * (sum / n);
- else
- res[j] = n * ((ssum / n) - (sum / n) * (sum / n)) / (n - 1);
- }
-
- return res;
-}
-
-template <typename T>
-Vector<T> stdev(const Matrix<T>& m, bool sample_correction = false)
-{
- return vec_sqrt(var(m, sample_correction));
-}
-
-template <typename T>
-Vector<T> r_var(const Matrix<T>& m, bool sample_correction = false)
-{
- Vector<T> res((T)0, m.nrows());
- double sum, ssum;
- unsigned int n = m.ncols();
- for (unsigned int i = 0; i < m.nrows(); i++)
- {
- sum = 0.0; ssum = 0.0;
- for (unsigned int j = 0; j < m.ncols(); j++)
- {
- sum += m[i][j];
- ssum += (m[i][j] * m[i][j]);
- }
- if (!sample_correction)
- res[i] = (ssum / n) - (sum / n) * (sum / n);
- else
- res[i] = n * ((ssum / n) - (sum / n) * (sum / n)) / (n - 1);
- }
-
- return res;
-}
-
-template <typename T>
-Vector<T> r_stdev(const Matrix<T>& m, bool sample_correction = false)
-{
- return vec_sqrt(r_var(m, sample_correction));
-}
-
-template <typename T>
-Vector<T> max(const Matrix<T>& m)
-{
- Vector<T> res(m.ncols());
- double value;
- for (unsigned int j = 0; j < m.ncols(); j++)
- {
- value = m[0][j];
- for (unsigned int i = 1; i < m.nrows(); i++)
- value = std::max(m[i][j], value);
- res[j] = value;
- }
-
- return res;
-}
-
-template <typename T>
-Vector<T> r_max(const Matrix<T>& m)
-{
- Vector<T> res(m.nrows());
- double value;
- for (unsigned int i = 0; i < m.nrows(); i++)
- {
- value = m[i][0];
- for (unsigned int j = 1; j < m.ncols(); j++)
- value = std::max(m[i][j], value);
- res[i] = value;
- }
-
- return res;
-}
-
-template <typename T>
-Vector<T> min(const Matrix<T>& m)
-{
- Vector<T> res(m.ncols());
- double value;
- for (unsigned int j = 0; j < m.ncols(); j++)
- {
- value = m[0][j];
- for (unsigned int i = 1; i < m.nrows(); i++)
- value = std::min(m[i][j], value);
- res[j] = value;
- }
-
- return res;
-}
-
-template <typename T>
-Vector<T> r_min(const Matrix<T>& m)
-{
- Vector<T> res(m.nrows());
- double value;
- for (unsigned int i = 0; i < m.nrows(); i++)
- {
- value = m[i][0];
- for (unsigned int j = 1; j < m.ncols(); j++)
- value = std::min(m[i][j], value);
- res[i] = value;
- }
-
- return res;
-}
-
-
-
-/**
- Single element mathematical functions
-*/
-
-template <typename T>
-Matrix<T> exp(const Matrix<T>&m)
-{
- Matrix<T> tmp(m.nrows(), m.ncols());
-
- for (unsigned int i = 0; i < m.nrows(); i++)
- for (unsigned int j = 0; j < m.ncols(); j++)
- tmp[i][j] = exp(m[i][j]);
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> mat_sqrt(const Matrix<T>&m)
-{
- Matrix<T> tmp(m.nrows(), m.ncols());
-
- for (unsigned int i = 0; i < m.nrows(); i++)
- for (unsigned int j = 0; j < m.ncols(); j++)
- tmp[i][j] = sqrt(m[i][j]);
-
- return tmp;
-}
-
-/**
- Matrix operators
-*/
-
-template <typename T>
-Matrix<T> kron(const Vector<T>& b, const Vector<T>& a)
-{
- Matrix<T> tmp(b.size(), a.size());
- for (unsigned int i = 0; i < b.size(); i++)
- for (unsigned int j = 0; j < a.size(); j++)
- tmp[i][j] = a[j] * b[i];
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> t(const Matrix<T>& a)
-{
- Matrix<T> tmp(a.ncols(), a.nrows());
- for (unsigned int i = 0; i < a.nrows(); i++)
- for (unsigned int j = 0; j < a.ncols(); j++)
- tmp[j][i] = a[i][j];
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> dot_prod(const Matrix<T>& a, const Matrix<T>& b)
-{
- if (a.ncols() != b.nrows())
- throw std::logic_error("Error matrix dot product: dimensions of the matrices are not compatible");
- Matrix<T> tmp(a.nrows(), b.ncols());
- for (unsigned int i = 0; i < tmp.nrows(); i++)
- for (unsigned int j = 0; j < tmp.ncols(); j++)
- {
- tmp[i][j] = (T)0;
- for (unsigned int k = 0; k < a.ncols(); k++)
- tmp[i][j] += a[i][k] * b[k][j];
- }
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> dot_prod(const Matrix<T>& a, const Vector<T>& b)
-{
- if (a.ncols() != b.size())
- throw std::logic_error("Error matrix dot product: dimensions of the matrix and the vector are not compatible");
- Matrix<T> tmp(a.nrows(), 1);
- for (unsigned int i = 0; i < tmp.nrows(); i++)
- {
- tmp[i][0] = (T)0;
- for (unsigned int k = 0; k < a.ncols(); k++)
- tmp[i][0] += a[i][k] * b[k];
- }
-
- return tmp;
-}
-
-template <typename T>
-Matrix<T> dot_prod(const Vector<T>& a, const Matrix<T>& b)
-{
- if (a.size() != b.nrows())
- throw std::logic_error("Error matrix dot product: dimensions of the vector and matrix are not compatible");
- Matrix<T> tmp(1, b.ncols());
- for (unsigned int j = 0; j < tmp.ncols(); j++)
- {
- tmp[0][j] = (T)0;
- for (unsigned int k = 0; k < a.size(); k++)
- tmp[0][j] += a[k] * b[k][j];
- }
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<double> rank(const Matrix<T> m)
-{
- Matrix<double> tmp(m.nrows(), m.ncols());
- for (unsigned int j = 0; j < m.ncols(); j++)
- tmp.setColumn(j, rank<T>(m.extractColumn(j)));
-
- return tmp;
-}
-
-template <typename T>
-inline Matrix<double> r_rank(const Matrix<T> m)
-{
- Matrix<double> tmp(m.nrows(), m.ncols());
- for (unsigned int i = 0; i < m.nrows(); i++)
- tmp.setRow(i, rank<T>(m.extractRow(i)));
-
- return tmp;
-}
-
-} // namespace quadprogpp
-
-#endif // define _ARRAY_HH_
+// $Id: Array.hh 249 2008-11-20 09:58:23Z schaerf $
+// This file is part of EasyLocalpp: a C++ Object-Oriented framework
+// aimed at easing the development of Local Search algorithms.
+// Copyright (C) 2001--2008 Andrea Schaerf, Luca Di Gaspero.
+//
+// This software may be modified and distributed under the terms
+// of the MIT license. See the LICENSE file for details.
+
+#if !defined(_ARRAY_HH)
+#define _ARRAY_HH
+
+#include <set>
+#include <stdexcept>
+#include <iostream>
+#include <iomanip>
+#include <cmath>
+#include <cstdlib>
+
+namespace quadprogpp {
+
+enum MType { DIAG };
+
+template <typename T>
+class Vector
+{
+public:
+ Vector();
+ Vector(const unsigned int n);
+ Vector(const T& a, const unsigned int n); //initialize to constant value
+ Vector(const T* a, const unsigned int n); // Initialize to array
+ Vector(const Vector &rhs); // copy constructor
+ ~Vector(); // destructor
+
+ inline void set(const T* a, const unsigned int n);
+ Vector<T> extract(const std::set<unsigned int>& indexes) const;
+ inline T& operator[](const unsigned int& i); //i-th element
+ inline const T& operator[](const unsigned int& i) const;
+
+ inline unsigned int size() const;
+ inline void resize(const unsigned int n);
+ inline void resize(const T& a, const unsigned int n);
+
+ Vector<T>& operator=(const Vector<T>& rhs); //assignment
+ Vector<T>& operator=(const T& a); //assign a to every element
+ inline Vector<T>& operator+=(const Vector<T>& rhs);
+ inline Vector<T>& operator-=(const Vector<T>& rhs);
+ inline Vector<T>& operator*=(const Vector<T>& rhs);
+ inline Vector<T>& operator/=(const Vector<T>& rhs);
+ inline Vector<T>& operator^=(const Vector<T>& rhs);
+ inline Vector<T>& operator+=(const T& a);
+ inline Vector<T>& operator-=(const T& a);
+ inline Vector<T>& operator*=(const T& a);
+ inline Vector<T>& operator/=(const T& a);
+ inline Vector<T>& operator^=(const T& a);
+private:
+ unsigned int n; // size of array. upper index is n-1
+ T* v; // storage for data
+};
+
+template <typename T>
+Vector<T>::Vector()
+ : n(0), v(0)
+{}
+
+template <typename T>
+Vector<T>::Vector(const unsigned int n)
+ : v(new T[n])
+{
+ this->n = n;
+}
+
+template <typename T>
+Vector<T>::Vector(const T& a, const unsigned int n)
+ : v(new T[n])
+{
+ this->n = n;
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = a;
+}
+
+template <typename T>
+Vector<T>::Vector(const T* a, const unsigned int n)
+ : v(new T[n])
+{
+ this->n = n;
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = *a++;
+}
+
+template <typename T>
+Vector<T>::Vector(const Vector<T>& rhs)
+ : v(new T[rhs.n])
+{
+ this->n = rhs.n;
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = rhs[i];
+}
+
+template <typename T>
+Vector<T>::~Vector()
+{
+ if (v != 0)
+ delete[] (v);
+}
+
+template <typename T>
+void Vector<T>::resize(const unsigned int n)
+{
+ if (n == this->n)
+ return;
+ if (v != 0)
+ delete[] (v);
+ v = new T[n];
+ this->n = n;
+}
+
+template <typename T>
+void Vector<T>::resize(const T& a, const unsigned int n)
+{
+ resize(n);
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = a;
+}
+
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator=(const Vector<T>& rhs)
+// postcondition: normal assignment via copying has been performed;
+// if vector and rhs were different sizes, vector
+// has been resized to match the size of rhs
+{
+ if (this != &rhs)
+ {
+ resize(rhs.n);
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = rhs[i];
+ }
+ return *this;
+}
+
+template <typename T>
+inline Vector<T> & Vector<T>::operator=(const T& a) //assign a to every element
+{
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = a;
+ return *this;
+}
+
+template <typename T>
+inline T & Vector<T>::operator[](const unsigned int& i) //subscripting
+{
+ return v[i];
+}
+
+template <typename T>
+inline const T& Vector<T>::operator[](const unsigned int& i) const //subscripting
+{
+ return v[i];
+}
+
+template <typename T>
+inline unsigned int Vector<T>::size() const
+{
+ return n;
+}
+
+template <typename T>
+inline void Vector<T>::set(const T* a, unsigned int n)
+{
+ resize(n);
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = a[i];
+}
+
+template <typename T>
+inline Vector<T> Vector<T>::extract(const std::set<unsigned int>& indexes) const
+{
+ Vector<T> tmp(indexes.size());
+ unsigned int i = 0;
+
+ for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
+ {
+ if (*el >= n)
+ throw std::logic_error("Error extracting subvector: the indexes are out of vector bounds");
+ tmp[i++] = v[*el];
+ }
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator+=(const Vector<T>& rhs)
+{
+ if (this->size() != rhs.size())
+ throw std::logic_error("Operator+=: vectors have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ v[i] += rhs[i];
+
+ return *this;
+}
+
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator+=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ v[i] += a;
+
+ return *this;
+}
+
+template <typename T>
+inline Vector<T> operator+(const Vector<T>& rhs)
+{
+ return rhs;
+}
+
+template <typename T>
+inline Vector<T> operator+(const Vector<T>& lhs, const Vector<T>& rhs)
+{
+ if (lhs.size() != rhs.size())
+ throw std::logic_error("Operator+: vectors have different sizes");
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = lhs[i] + rhs[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator+(const Vector<T>& lhs, const T& a)
+{
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = lhs[i] + a;
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator+(const T& a, const Vector<T>& rhs)
+{
+ Vector<T> tmp(rhs.size());
+ for (unsigned int i = 0; i < rhs.size(); i++)
+ tmp[i] = a + rhs[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator-=(const Vector<T>& rhs)
+{
+ if (this->size() != rhs.size())
+ throw std::logic_error("Operator-=: vectors have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ v[i] -= rhs[i];
+
+ return *this;
+}
+
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator-=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ v[i] -= a;
+
+ return *this;
+}
+
+template <typename T>
+inline Vector<T> operator-(const Vector<T>& rhs)
+{
+ return (T)(-1) * rhs;
+}
+
+template <typename T>
+inline Vector<T> operator-(const Vector<T>& lhs, const Vector<T>& rhs)
+{
+ if (lhs.size() != rhs.size())
+ throw std::logic_error("Operator-: vectors have different sizes");
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = lhs[i] - rhs[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator-(const Vector<T>& lhs, const T& a)
+{
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = lhs[i] - a;
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator-(const T& a, const Vector<T>& rhs)
+{
+ Vector<T> tmp(rhs.size());
+ for (unsigned int i = 0; i < rhs.size(); i++)
+ tmp[i] = a - rhs[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator*=(const Vector<T>& rhs)
+{
+ if (this->size() != rhs.size())
+ throw std::logic_error("Operator*=: vectors have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ v[i] *= rhs[i];
+
+ return *this;
+}
+
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator*=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ v[i] *= a;
+
+ return *this;
+}
+
+template <typename T>
+inline Vector<T> operator*(const Vector<T>& lhs, const Vector<T>& rhs)
+{
+ if (lhs.size() != rhs.size())
+ throw std::logic_error("Operator*: vectors have different sizes");
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = lhs[i] * rhs[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator*(const Vector<T>& lhs, const T& a)
+{
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = lhs[i] * a;
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator*(const T& a, const Vector<T>& rhs)
+{
+ Vector<T> tmp(rhs.size());
+ for (unsigned int i = 0; i < rhs.size(); i++)
+ tmp[i] = a * rhs[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator/=(const Vector<T>& rhs)
+{
+ if (this->size() != rhs.size())
+ throw std::logic_error("Operator/=: vectors have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ v[i] /= rhs[i];
+
+ return *this;
+}
+
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator/=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ v[i] /= a;
+
+ return *this;
+}
+
+template <typename T>
+inline Vector<T> operator/(const Vector<T>& lhs, const Vector<T>& rhs)
+{
+ if (lhs.size() != rhs.size())
+ throw std::logic_error("Operator/: vectors have different sizes");
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = lhs[i] / rhs[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator/(const Vector<T>& lhs, const T& a)
+{
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = lhs[i] / a;
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator/(const T& a, const Vector<T>& rhs)
+{
+ Vector<T> tmp(rhs.size());
+ for (unsigned int i = 0; i < rhs.size(); i++)
+ tmp[i] = a / rhs[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator^(const Vector<T>& lhs, const Vector<T>& rhs)
+{
+ if (lhs.size() != rhs.size())
+ throw std::logic_error("Operator^: vectors have different sizes");
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = pow(lhs[i], rhs[i]);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator^(const Vector<T>& lhs, const T& a)
+{
+ Vector<T> tmp(lhs.size());
+ for (unsigned int i = 0; i < lhs.size(); i++)
+ tmp[i] = pow(lhs[i], a);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> operator^(const T& a, const Vector<T>& rhs)
+{
+ Vector<T> tmp(rhs.size());
+ for (unsigned int i = 0; i < rhs.size(); i++)
+ tmp[i] = pow(a, rhs[i]);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator^=(const Vector<T>& rhs)
+{
+ if (this->size() != rhs.size())
+ throw std::logic_error("Operator^=: vectors have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = pow(v[i], rhs[i]);
+
+ return *this;
+}
+
+template <typename T>
+inline Vector<T>& Vector<T>::operator^=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ v[i] = pow(v[i], a);
+
+ return *this;
+}
+
+template <typename T>
+inline bool operator==(const Vector<T>& v, const Vector<T>& w)
+{
+ if (v.size() != w.size())
+ throw std::logic_error("Vectors of different size are not confrontable");
+ for (unsigned i = 0; i < v.size(); i++)
+ if (v[i] != w[i])
+ return false;
+ return true;
+}
+
+template <typename T>
+inline bool operator!=(const Vector<T>& v, const Vector<T>& w)
+{
+ if (v.size() != w.size())
+ throw std::logic_error("Vectors of different size are not confrontable");
+ for (unsigned i = 0; i < v.size(); i++)
+ if (v[i] != w[i])
+ return true;
+ return false;
+}
+
+template <typename T>
+inline bool operator<(const Vector<T>& v, const Vector<T>& w)
+{
+ if (v.size() != w.size())
+ throw std::logic_error("Vectors of different size are not confrontable");
+ for (unsigned i = 0; i < v.size(); i++)
+ if (v[i] >= w[i])
+ return false;
+ return true;
+}
+
+template <typename T>
+inline bool operator<=(const Vector<T>& v, const Vector<T>& w)
+{
+ if (v.size() != w.size())
+ throw std::logic_error("Vectors of different size are not confrontable");
+ for (unsigned i = 0; i < v.size(); i++)
+ if (v[i] > w[i])
+ return false;
+ return true;
+}
+
+template <typename T>
+inline bool operator>(const Vector<T>& v, const Vector<T>& w)
+{
+ if (v.size() != w.size())
+ throw std::logic_error("Vectors of different size are not confrontable");
+ for (unsigned i = 0; i < v.size(); i++)
+ if (v[i] <= w[i])
+ return false;
+ return true;
+}
+
+template <typename T>
+inline bool operator>=(const Vector<T>& v, const Vector<T>& w)
+{
+ if (v.size() != w.size())
+ throw std::logic_error("Vectors of different size are not confrontable");
+ for (unsigned i = 0; i < v.size(); i++)
+ if (v[i] < w[i])
+ return false;
+ return true;
+}
+
+/**
+ Input/Output
+*/
+template <typename T>
+inline std::ostream& operator<<(std::ostream& os, const Vector<T>& v)
+{
+ os << std::endl << v.size() << std::endl;
+ for (unsigned int i = 0; i < v.size() - 1; i++)
+ os << std::setw(20) << std::setprecision(16) << v[i] << ", ";
+ os << std::setw(20) << std::setprecision(16) << v[v.size() - 1] << std::endl;
+
+ return os;
+}
+
+template <typename T>
+std::istream& operator>>(std::istream& is, Vector<T>& v)
+{
+ int elements;
+ char comma;
+ is >> elements;
+ v.resize(elements);
+ for (unsigned int i = 0; i < elements; i++)
+ is >> v[i] >> comma;
+
+ return is;
+}
+
+/**
+ Index utilities
+*/
+
+std::set<unsigned int> seq(unsigned int s, unsigned int e);
+
+std::set<unsigned int> singleton(unsigned int i);
+
+template <typename T>
+class CanonicalBaseVector : public Vector<T>
+{
+public:
+ CanonicalBaseVector(unsigned int i, unsigned int n);
+ inline void reset(unsigned int i);
+private:
+ unsigned int e;
+};
+
+template <typename T>
+CanonicalBaseVector<T>::CanonicalBaseVector(unsigned int i, unsigned int n)
+ : Vector<T>((T)0, n), e(i)
+{ (*this)[e] = (T)1; }
+
+template <typename T>
+inline void CanonicalBaseVector<T>::reset(unsigned int i)
+{
+ (*this)[e] = (T)0;
+ e = i;
+ (*this)[e] = (T)1;
+}
+
+#include <stdexcept>
+
+template <typename T>
+inline T sum(const Vector<T>& v)
+{
+ T tmp = (T)0;
+ for (unsigned int i = 0; i < v.size(); i++)
+ tmp += v[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline T prod(const Vector<T>& v)
+{
+ T tmp = (T)1;
+ for (unsigned int i = 0; i < v.size(); i++)
+ tmp *= v[i];
+
+ return tmp;
+}
+
+template <typename T>
+inline T mean(const Vector<T>& v)
+{
+ T sum = (T)0;
+ for (unsigned int i = 0; i < v.size(); i++)
+ sum += v[i];
+ return sum / v.size();
+}
+
+template <typename T>
+inline T median(const Vector<T>& v)
+{
+ Vector<T> tmp = sort(v);
+ if (v.size() % 2 == 1) // it is an odd-sized vector
+ return tmp[v.size() / 2];
+ else
+ return 0.5 * (tmp[v.size() / 2 - 1] + tmp[v.size() / 2]);
+}
+
+template <typename T>
+inline T stdev(const Vector<T>& v, bool sample_correction = false)
+{
+ return sqrt(var(v, sample_correction));
+}
+
+template <typename T>
+inline T var(const Vector<T>& v, bool sample_correction = false)
+{
+ T sum = (T)0, ssum = (T)0;
+ unsigned int n = v.size();
+ for (unsigned int i = 0; i < n; i++)
+ {
+ sum += v[i];
+ ssum += (v[i] * v[i]);
+ }
+ if (!sample_correction)
+ return (ssum / n) - (sum / n) * (sum / n);
+ else
+ return n * ((ssum / n) - (sum / n) * (sum / n)) / (n - 1);
+}
+
+template <typename T>
+inline T max(const Vector<T>& v)
+{
+ T value = v[0];
+ for (unsigned int i = 1; i < v.size(); i++)
+ value = std::max(v[i], value);
+
+ return value;
+}
+
+template <typename T>
+inline T min(const Vector<T>& v)
+{
+ T value = v[0];
+ for (unsigned int i = 1; i < v.size(); i++)
+ value = std::min(v[i], value);
+
+ return value;
+}
+
+template <typename T>
+inline unsigned int index_max(const Vector<T>& v)
+{
+ unsigned int max = 0;
+ for (unsigned int i = 1; i < v.size(); i++)
+ if (v[i] > v[max])
+ max = i;
+
+ return max;
+}
+
+template <typename T>
+inline unsigned int index_min(const Vector<T>& v)
+{
+ unsigned int min = 0;
+ for (unsigned int i = 1; i < v.size(); i++)
+ if (v[i] < v[min])
+ min = i;
+
+ return min;
+}
+
+
+template <typename T>
+inline T dot_prod(const Vector<T>& a, const Vector<T>& b)
+{
+ T sum = (T)0;
+ if (a.size() != b.size())
+ throw std::logic_error("Dotprod error: the vectors are not the same size");
+ for (unsigned int i = 0; i < a.size(); i++)
+ sum += a[i] * b[i];
+
+ return sum;
+}
+
+/**
+ Single element mathematical functions
+*/
+
+template <typename T>
+inline Vector<T> exp(const Vector<T>& v)
+{
+ Vector<T> tmp(v.size());
+ for (unsigned int i = 0; i < v.size(); i++)
+ tmp[i] = exp(v[i]);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> log(const Vector<T>& v)
+{
+ Vector<T> tmp(v.size());
+ for (unsigned int i = 0; i < v.size(); i++)
+ tmp[i] = log(v[i]);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> vec_sqrt(const Vector<T>& v)
+{
+ Vector<T> tmp(v.size());
+ for (unsigned int i = 0; i < v.size(); i++)
+ tmp[i] = sqrt(v[i]);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> pow(const Vector<T>& v, double a)
+{
+ Vector<T> tmp(v.size());
+ for (unsigned int i = 0; i < v.size(); i++)
+ tmp[i] = pow(v[i], a);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> abs(const Vector<T>& v)
+{
+ Vector<T> tmp(v.size());
+ for (unsigned int i = 0; i < v.size(); i++)
+ tmp[i] = (T)fabs(v[i]);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> sign(const Vector<T>& v)
+{
+ Vector<T> tmp(v.size());
+ for (unsigned int i = 0; i < v.size(); i++)
+ tmp[i] = v[i] > 0 ? +1 : v[i] == 0 ? 0 : -1;
+
+ return tmp;
+}
+
+template <typename T>
+inline unsigned int partition(Vector<T>& v, unsigned int begin, unsigned int end)
+{
+ unsigned int i = begin + 1, j = begin + 1;
+ T pivot = v[begin];
+ while (j <= end)
+ {
+ if (v[j] < pivot) {
+ std::swap(v[i], v[j]);
+ i++;
+ }
+ j++;
+ }
+ v[begin] = v[i - 1];
+ v[i - 1] = pivot;
+ return i - 2;
+}
+
+
+template <typename T>
+inline void quicksort(Vector<T>& v, unsigned int begin, unsigned int end)
+{
+ if (end > begin)
+ {
+ unsigned int index = partition(v, begin, end);
+ quicksort(v, begin, index);
+ quicksort(v, index + 2, end);
+ }
+}
+
+template <typename T>
+inline Vector<T> sort(const Vector<T>& v)
+{
+ Vector<T> tmp(v);
+
+ quicksort<T>(tmp, 0, tmp.size() - 1);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<double> rank(const Vector<T>& v)
+{
+ Vector<T> tmp(v);
+ Vector<double> tmp_rank(0.0, v.size());
+
+ for (unsigned int i = 0; i < tmp.size(); i++)
+ {
+ unsigned int smaller = 0, equal = 0;
+ for (unsigned int j = 0; j < tmp.size(); j++)
+ if (i == j)
+ continue;
+ else
+ if (tmp[j] < tmp[i])
+ smaller++;
+ else if (tmp[j] == tmp[i])
+ equal++;
+ tmp_rank[i] = smaller + 1;
+ if (equal > 0)
+ {
+ for (unsigned int j = 1; j <= equal; j++)
+ tmp_rank[i] += smaller + 1 + j;
+ tmp_rank[i] /= (double)(equal + 1);
+ }
+ }
+
+ return tmp_rank;
+}
+
+//enum MType { DIAG };
+
+template <typename T>
+class Matrix
+{
+public:
+ Matrix(); // Default constructor
+ Matrix(const unsigned int n, const unsigned int m); // Construct a n x m matrix
+ Matrix(const T& a, const unsigned int n, const unsigned int m); // Initialize the content to constant a
+ Matrix(MType t, const T& a, const T& o, const unsigned int n, const unsigned int m);
+ Matrix(MType t, const Vector<T>& v, const T& o, const unsigned int n, const unsigned int m);
+ Matrix(const T* a, const unsigned int n, const unsigned int m); // Initialize to array
+ Matrix(const Matrix<T>& rhs); // Copy constructor
+ ~Matrix(); // destructor
+
+ inline T* operator[](const unsigned int& i) { return v[i]; } // Subscripting: row i
+ inline const T* operator[](const unsigned int& i) const { return v[i]; }; // const subsctipting
+
+ inline void resize(const unsigned int n, const unsigned int m);
+ inline void resize(const T& a, const unsigned int n, const unsigned int m);
+
+
+ inline Vector<T> extractRow(const unsigned int i) const;
+ inline Vector<T> extractColumn(const unsigned int j) const;
+ inline Vector<T> extractDiag() const;
+ inline Matrix<T> extractRows(const std::set<unsigned int>& indexes) const;
+ inline Matrix<T> extractColumns(const std::set<unsigned int>& indexes) const;
+ inline Matrix<T> extract(const std::set<unsigned int>& r_indexes, const std::set<unsigned int>& c_indexes) const;
+
+ inline void set(const T* a, unsigned int n, unsigned int m);
+ inline void set(const std::set<unsigned int>& r_indexes, const std::set<unsigned int>& c_indexes, const Matrix<T>& m);
+ inline void setRow(const unsigned int index, const Vector<T>& v);
+ inline void setRow(const unsigned int index, const Matrix<T>& v);
+ inline void setRows(const std::set<unsigned int>& indexes, const Matrix<T>& m);
+ inline void setColumn(const unsigned int index, const Vector<T>& v);
+ inline void setColumn(const unsigned int index, const Matrix<T>& v);
+ inline void setColumns(const std::set<unsigned int>& indexes, const Matrix<T>& m);
+
+
+ inline unsigned int nrows() const { return n; } // number of rows
+ inline unsigned int ncols() const { return m; } // number of columns
+
+ inline Matrix<T>& operator=(const Matrix<T>& rhs); // Assignment operator
+ inline Matrix<T>& operator=(const T& a); // Assign to every element value a
+ inline Matrix<T>& operator+=(const Matrix<T>& rhs);
+ inline Matrix<T>& operator-=(const Matrix<T>& rhs);
+ inline Matrix<T>& operator*=(const Matrix<T>& rhs);
+ inline Matrix<T>& operator/=(const Matrix<T>& rhs);
+ inline Matrix<T>& operator^=(const Matrix<T>& rhs);
+ inline Matrix<T>& operator+=(const T& a);
+ inline Matrix<T>& operator-=(const T& a);
+ inline Matrix<T>& operator*=(const T& a);
+ inline Matrix<T>& operator/=(const T& a);
+ inline Matrix<T>& operator^=(const T& a);
+ inline operator Vector<T>();
+private:
+ unsigned int n; // number of rows
+ unsigned int m; // number of columns
+ T **v; // storage for data
+};
+
+template <typename T>
+Matrix<T>::Matrix()
+ : n(0), m(0), v(0)
+{}
+
+template <typename T>
+Matrix<T>::Matrix(unsigned int n, unsigned int m)
+ : v(new T*[n])
+{
+ this->n = n; this->m = m;
+ v[0] = new T[m * n];
+ for (unsigned int i = 1; i < n; i++)
+ v[i] = v[i - 1] + m;
+}
+
+template <typename T>
+Matrix<T>::Matrix(const T& a, unsigned int n, unsigned int m)
+ : v(new T*[n])
+{
+ this->n = n; this->m = m;
+ v[0] = new T[m * n];
+ for (unsigned int i = 1; i < n; i++)
+ v[i] = v[i - 1] + m;
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = a;
+}
+
+template <class T>
+Matrix<T>::Matrix(const T* a, unsigned int n, unsigned int m)
+ : v(new T*[n])
+{
+ this->n = n; this->m = m;
+ v[0] = new T[m * n];
+ for (unsigned int i = 1; i < n; i++)
+ v[i] = v[i - 1] + m;
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = *a++;
+}
+
+template <class T>
+Matrix<T>::Matrix(MType t, const T& a, const T& o, unsigned int n, unsigned int m)
+ : v(new T*[n])
+{
+ this->n = n; this->m = m;
+ v[0] = new T[m * n];
+ for (unsigned int i = 1; i < n; i++)
+ v[i] = v[i - 1] + m;
+ switch (t)
+ {
+ case DIAG:
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ if (i != j)
+ v[i][j] = o;
+ else
+ v[i][j] = a;
+ break;
+ default:
+ throw std::logic_error("Matrix type not supported");
+ }
+}
+
+template <class T>
+Matrix<T>::Matrix(MType t, const Vector<T>& a, const T& o, unsigned int n, unsigned int m)
+ : v(new T*[n])
+{
+ this->n = n; this->m = m;
+ v[0] = new T[m * n];
+ for (unsigned int i = 1; i < n; i++)
+ v[i] = v[i - 1] + m;
+ switch (t)
+ {
+ case DIAG:
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ if (i != j)
+ v[i][j] = o;
+ else
+ v[i][j] = a[i];
+ break;
+ default:
+ throw std::logic_error("Matrix type not supported");
+ }
+}
+
+template <typename T>
+Matrix<T>::Matrix(const Matrix<T>& rhs)
+ : v(new T*[rhs.n])
+{
+ n = rhs.n; m = rhs.m;
+ v[0] = new T[m * n];
+ for (unsigned int i = 1; i < n; i++)
+ v[i] = v[i - 1] + m;
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = rhs[i][j];
+}
+
+template <typename T>
+Matrix<T>::~Matrix()
+{
+ if (v != 0) {
+ delete[] (v[0]);
+ delete[] (v);
+ }
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator=(const Matrix<T> &rhs)
+// postcondition: normal assignment via copying has been performed;
+// if matrix and rhs were different sizes, matrix
+// has been resized to match the size of rhs
+{
+ if (this != &rhs)
+ {
+ resize(rhs.n, rhs.m);
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = rhs[i][j];
+ }
+ return *this;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator=(const T& a) // assign a to every element
+{
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = a;
+ return *this;
+}
+
+
+template <typename T>
+inline void Matrix<T>::resize(const unsigned int n, const unsigned int m)
+{
+ if (n == this->n && m == this->m)
+ return;
+ if (v != 0)
+ {
+ delete[] (v[0]);
+ delete[] (v);
+ }
+ this->n = n; this->m = m;
+ v = new T*[n];
+ v[0] = new T[m * n];
+ for (unsigned int i = 1; i < n; i++)
+ v[i] = v[i - 1] + m;
+}
+
+template <typename T>
+inline void Matrix<T>::resize(const T& a, const unsigned int n, const unsigned int m)
+{
+ resize(n, m);
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = a;
+}
+
+
+
+template <typename T>
+inline Vector<T> Matrix<T>::extractRow(const unsigned int i) const
+{
+ if (i >= n)
+ throw std::logic_error("Error in extractRow: trying to extract a row out of matrix bounds");
+ Vector<T> tmp(v[i], m);
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> Matrix<T>::extractColumn(const unsigned int j) const
+{
+ if (j >= m)
+ throw std::logic_error("Error in extractRow: trying to extract a row out of matrix bounds");
+ Vector<T> tmp(n);
+
+ for (unsigned int i = 0; i < n; i++)
+ tmp[i] = v[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+inline Vector<T> Matrix<T>::extractDiag() const
+{
+ unsigned int d = std::min(n, m);
+
+ Vector<T> tmp(d);
+
+ for (unsigned int i = 0; i < d; i++)
+ tmp[i] = v[i][i];
+
+ return tmp;
+
+}
+
+template <typename T>
+inline Matrix<T> Matrix<T>::extractRows(const std::set<unsigned int>& indexes) const
+{
+ Matrix<T> tmp(indexes.size(), m);
+ unsigned int i = 0;
+
+ for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
+ {
+ for (unsigned int j = 0; j < m; j++)
+ {
+ if (*el >= n)
+ throw std::logic_error("Error extracting rows: the indexes are out of matrix bounds");
+ tmp[i][j] = v[*el][j];
+ }
+ i++;
+ }
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<T> Matrix<T>::extractColumns(const std::set<unsigned int>& indexes) const
+{
+ Matrix<T> tmp(n, indexes.size());
+ unsigned int j = 0;
+
+ for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
+ {
+ for (unsigned int i = 0; i < n; i++)
+ {
+ if (*el >= m)
+ throw std::logic_error("Error extracting columns: the indexes are out of matrix bounds");
+ tmp[i][j] = v[i][*el];
+ }
+ j++;
+ }
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<T> Matrix<T>::extract(const std::set<unsigned int>& r_indexes, const std::set<unsigned int>& c_indexes) const
+{
+ Matrix<T> tmp(r_indexes.size(), c_indexes.size());
+ unsigned int i = 0, j;
+
+ for (std::set<unsigned int>::const_iterator r_el = r_indexes.begin(); r_el != r_indexes.end(); r_el++)
+ {
+ if (*r_el >= n)
+ throw std::logic_error("Error extracting submatrix: the indexes are out of matrix bounds");
+ j = 0;
+ for (std::set<unsigned int>::const_iterator c_el = c_indexes.begin(); c_el != c_indexes.end(); c_el++)
+ {
+ if (*c_el >= m)
+ throw std::logic_error("Error extracting rows: the indexes are out of matrix bounds");
+ tmp[i][j] = v[*r_el][*c_el];
+ j++;
+ }
+ i++;
+ }
+
+ return tmp;
+}
+
+template <typename T>
+inline void Matrix<T>::setRow(unsigned int i, const Vector<T>& a)
+{
+ if (i >= n)
+ throw std::logic_error("Error in setRow: trying to set a row out of matrix bounds");
+ if (this->m != a.size())
+ throw std::logic_error("Error setting matrix row: ranges are not compatible");
+ for (unsigned int j = 0; j < ncols(); j++)
+ v[i][j] = a[j];
+}
+
+template <typename T>
+inline void Matrix<T>::setRow(unsigned int i, const Matrix<T>& a)
+{
+ if (i >= n)
+ throw std::logic_error("Error in setRow: trying to set a row out of matrix bounds");
+ if (this->m != a.ncols())
+ throw std::logic_error("Error setting matrix column: ranges are not compatible");
+ if (a.nrows() != 1)
+ throw std::logic_error("Error setting matrix column with a non-row matrix");
+ for (unsigned int j = 0; j < ncols(); j++)
+ v[i][j] = a[0][j];
+}
+
+template <typename T>
+inline void Matrix<T>::setRows(const std::set<unsigned int>& indexes, const Matrix<T>& m)
+{
+ unsigned int i = 0;
+
+ if (indexes.size() != m.nrows() || this->m != m.ncols())
+ throw std::logic_error("Error setting matrix rows: ranges are not compatible");
+ for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
+ {
+ for (unsigned int j = 0; j < ncols(); j++)
+ {
+ if (*el >= n)
+ throw std::logic_error("Error in setRows: trying to set a row out of matrix bounds");
+ v[*el][j] = m[i][j];
+ }
+ i++;
+ }
+}
+
+template <typename T>
+inline void Matrix<T>::setColumn(unsigned int j, const Vector<T>& a)
+{
+ if (j >= m)
+ throw std::logic_error("Error in setColumn: trying to set a column out of matrix bounds");
+ if (this->n != a.size())
+ throw std::logic_error("Error setting matrix column: ranges are not compatible");
+ for (unsigned int i = 0; i < nrows(); i++)
+ v[i][j] = a[i];
+}
+
+template <typename T>
+inline void Matrix<T>::setColumn(unsigned int j, const Matrix<T>& a)
+{
+ if (j >= m)
+ throw std::logic_error("Error in setColumn: trying to set a column out of matrix bounds");
+ if (this->n != a.nrows())
+ throw std::logic_error("Error setting matrix column: ranges are not compatible");
+ if (a.ncols() != 1)
+ throw std::logic_error("Error setting matrix column with a non-column matrix");
+ for (unsigned int i = 0; i < nrows(); i++)
+ v[i][j] = a[i][0];
+}
+
+
+template <typename T>
+inline void Matrix<T>::setColumns(const std::set<unsigned int>& indexes, const Matrix<T>& a)
+{
+ unsigned int j = 0;
+
+ if (indexes.size() != a.ncols() || this->n != a.nrows())
+ throw std::logic_error("Error setting matrix columns: ranges are not compatible");
+ for (std::set<unsigned int>::const_iterator el = indexes.begin(); el != indexes.end(); el++)
+ {
+ for (unsigned int i = 0; i < nrows(); i++)
+ {
+ if (*el >= m)
+ throw std::logic_error("Error in setColumns: trying to set a column out of matrix bounds");
+ v[i][*el] = a[i][j];
+ }
+ j++;
+ }
+}
+
+template <typename T>
+inline void Matrix<T>::set(const std::set<unsigned int>& r_indexes, const std::set<unsigned int>& c_indexes, const Matrix<T>& a)
+{
+ unsigned int i = 0, j;
+ if (c_indexes.size() != a.ncols() || r_indexes.size() != a.nrows())
+ throw std::logic_error("Error setting matrix elements: ranges are not compatible");
+
+ for (std::set<unsigned int>::const_iterator r_el = r_indexes.begin(); r_el != r_indexes.end(); r_el++)
+ {
+ if (*r_el >= n)
+ throw std::logic_error("Error in set: trying to set a row out of matrix bounds");
+ j = 0;
+ for (std::set<unsigned int>::const_iterator c_el = c_indexes.begin(); c_el != c_indexes.end(); c_el++)
+ {
+ if (*c_el >= m)
+ throw std::logic_error("Error in set: trying to set a column out of matrix bounds");
+ v[*r_el][*c_el] = a[i][j];
+ j++;
+ }
+ i++;
+ }
+}
+
+template <typename T>
+inline void Matrix<T>::set(const T* a, unsigned int n, unsigned int m)
+{
+ if (this->n != n || this->m != m)
+ resize(n, m);
+ unsigned int k = 0;
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = a[k++];
+}
+
+
+template <typename T>
+Matrix<T> operator+(const Matrix<T>& rhs)
+{
+ return rhs;
+}
+
+template <typename T>
+Matrix<T> operator+(const Matrix<T>& lhs, const Matrix<T>& rhs)
+{
+ if (lhs.ncols() != rhs.ncols() || lhs.nrows() != rhs.nrows())
+ throw std::logic_error("Operator+: matrices have different sizes");
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = lhs[i][j] + rhs[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> operator+(const Matrix<T>& lhs, const T& a)
+{
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = lhs[i][j] + a;
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> operator+(const T& a, const Matrix<T>& rhs)
+{
+ Matrix<T> tmp(rhs.nrows(), rhs.ncols());
+ for (unsigned int i = 0; i < rhs.nrows(); i++)
+ for (unsigned int j = 0; j < rhs.ncols(); j++)
+ tmp[i][j] = a + rhs[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator+=(const Matrix<T>& rhs)
+{
+ if (m != rhs.ncols() || n != rhs.nrows())
+ throw std::logic_error("Operator+=: matrices have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] += rhs[i][j];
+
+ return *this;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator+=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] += a;
+
+ return *this;
+}
+
+template <typename T>
+Matrix<T> operator-(const Matrix<T>& rhs)
+{
+ return (T)(-1) * rhs;
+}
+
+template <typename T>
+Matrix<T> operator-(const Matrix<T>& lhs, const Matrix<T>& rhs)
+{
+ if (lhs.ncols() != rhs.ncols() || lhs.nrows() != rhs.nrows())
+ throw std::logic_error("Operator-: matrices have different sizes");
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = lhs[i][j] - rhs[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> operator-(const Matrix<T>& lhs, const T& a)
+{
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = lhs[i][j] - a;
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> operator-(const T& a, const Matrix<T>& rhs)
+{
+ Matrix<T> tmp(rhs.nrows(), rhs.ncols());
+ for (unsigned int i = 0; i < rhs.nrows(); i++)
+ for (unsigned int j = 0; j < rhs.ncols(); j++)
+ tmp[i][j] = a - rhs[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator-=(const Matrix<T>& rhs)
+{
+ if (m != rhs.ncols() || n != rhs.nrows())
+ throw std::logic_error("Operator-=: matrices have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] -= rhs[i][j];
+
+ return *this;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator-=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] -= a;
+
+ return *this;
+}
+
+template <typename T>
+Matrix<T> operator*(const Matrix<T>& lhs, const Matrix<T>& rhs)
+{
+ if (lhs.ncols() != rhs.ncols() || lhs.nrows() != rhs.nrows())
+ throw std::logic_error("Operator*: matrices have different sizes");
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = lhs[i][j] * rhs[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> operator*(const Matrix<T>& lhs, const T& a)
+{
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = lhs[i][j] * a;
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> operator*(const T& a, const Matrix<T>& rhs)
+{
+ Matrix<T> tmp(rhs.nrows(), rhs.ncols());
+ for (unsigned int i = 0; i < rhs.nrows(); i++)
+ for (unsigned int j = 0; j < rhs.ncols(); j++)
+ tmp[i][j] = a * rhs[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator*=(const Matrix<T>& rhs)
+{
+ if (m != rhs.ncols() || n != rhs.nrows())
+ throw std::logic_error("Operator*=: matrices have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] *= rhs[i][j];
+
+ return *this;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator*=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] *= a;
+
+ return *this;
+}
+
+template <typename T>
+Matrix<T> operator/(const Matrix<T>& lhs, const Matrix<T>& rhs)
+{
+ if (lhs.ncols() != rhs.ncols() || lhs.nrows() != rhs.nrows())
+ throw std::logic_error("Operator+: matrices have different sizes");
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = lhs[i][j] / rhs[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> operator/(const Matrix<T>& lhs, const T& a)
+{
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = lhs[i][j] / a;
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> operator/(const T& a, const Matrix<T>& rhs)
+{
+ Matrix<T> tmp(rhs.nrows(), rhs.ncols());
+ for (unsigned int i = 0; i < rhs.nrows(); i++)
+ for (unsigned int j = 0; j < rhs.ncols(); j++)
+ tmp[i][j] = a / rhs[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator/=(const Matrix<T>& rhs)
+{
+ if (m != rhs.ncols() || n != rhs.nrows())
+ throw std::logic_error("Operator+=: matrices have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] /= rhs[i][j];
+
+ return *this;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator/=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] /= a;
+
+ return *this;
+}
+
+template <typename T>
+Matrix<T> operator^(const Matrix<T>& lhs, const T& a)
+{
+ Matrix<T> tmp(lhs.nrows(), lhs.ncols());
+ for (unsigned int i = 0; i < lhs.nrows(); i++)
+ for (unsigned int j = 0; j < lhs.ncols(); j++)
+ tmp[i][j] = pow(lhs[i][j], a);
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator^=(const Matrix<T>& rhs)
+{
+ if (m != rhs.ncols() || n != rhs.nrows())
+ throw std::logic_error("Operator^=: matrices have different sizes");
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = pow(v[i][j], rhs[i][j]);
+
+ return *this;
+}
+
+
+template <typename T>
+inline Matrix<T>& Matrix<T>::operator^=(const T& a)
+{
+ for (unsigned int i = 0; i < n; i++)
+ for (unsigned int j = 0; j < m; j++)
+ v[i][j] = pow(v[i][j], a);
+
+ return *this;
+}
+
+template <typename T>
+inline Matrix<T>::operator Vector<T>()
+{
+ if (n > 1 && m > 1)
+ throw std::logic_error("Error matrix cast to vector: trying to cast a multi-dimensional matrix");
+ if (n == 1)
+ return extractRow(0);
+ else
+ return extractColumn(0);
+}
+
+template <typename T>
+inline bool operator==(const Matrix<T>& a, const Matrix<T>& b)
+{
+ if (a.nrows() != b.nrows() || a.ncols() != b.ncols())
+ throw std::logic_error("Matrices of different size are not confrontable");
+ for (unsigned i = 0; i < a.nrows(); i++)
+ for (unsigned j = 0; j < a.ncols(); j++)
+ if (a[i][j] != b[i][j])
+ return false;
+ return true;
+}
+
+template <typename T>
+inline bool operator!=(const Matrix<T>& a, const Matrix<T>& b)
+{
+ if (a.nrows() != b.nrows() || a.ncols() != b.ncols())
+ throw std::logic_error("Matrices of different size are not confrontable");
+ for (unsigned i = 0; i < a.nrows(); i++)
+ for (unsigned j = 0; j < a.ncols(); j++)
+ if (a[i][j] != b[i][j])
+ return true;
+ return false;
+}
+
+
+
+/**
+ Input/Output
+*/
+template <typename T>
+std::ostream& operator<<(std::ostream& os, const Matrix<T>& m)
+{
+ os << std::endl << m.nrows() << " " << m.ncols() << std::endl;
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ {
+ for (unsigned int j = 0; j < m.ncols() - 1; j++)
+ os << std::setw(20) << std::setprecision(16) << m[i][j] << ", ";
+ os << std::setw(20) << std::setprecision(16) << m[i][m.ncols() - 1] << std::endl;
+ }
+
+ return os;
+}
+
+template <typename T>
+std::istream& operator>>(std::istream& is, Matrix<T>& m)
+{
+ int rows, cols;
+ char comma;
+ is >> rows >> cols;
+ m.resize(rows, cols);
+ for (unsigned int i = 0; i < rows; i++)
+ for (unsigned int j = 0; j < cols; j++)
+ is >> m[i][j] >> comma;
+
+ return is;
+}
+
+template <typename T>
+T sign(const T& v)
+{
+ if (v >= (T)0.0)
+ return (T)1.0;
+ else
+ return (T)-1.0;
+}
+
+template <typename T>
+T dist(const T& a, const T& b)
+{
+ T abs_a = (T)fabs(a), abs_b = (T)fabs(b);
+ if (abs_a > abs_b)
+ return abs_a * sqrt((T)1.0 + (abs_b / abs_a) * (abs_b / abs_a));
+ else
+ return (abs_b == (T)0.0 ? (T)0.0 : abs_b * sqrt((T)1.0 + (abs_a / abs_b) * (abs_a / abs_b)));
+}
+
+template <typename T>
+void svd(const Matrix<T>& A, Matrix<T>& U, Vector<T>& W, Matrix<T>& V)
+{
+ int m = A.nrows(), n = A.ncols(), i, j, k, l, jj, nm;
+ const unsigned int max_its = 30;
+ bool flag;
+ Vector<T> rv1(n);
+ U = A;
+ W.resize(n);
+ V.resize(n, n);
+ T anorm, c, f, g, h, s, scale, x, y, z;
+ g = scale = anorm = (T)0.0;
+
+ // Householder reduction to bidiagonal form
+ for (i = 0; i < n; i++)
+ {
+ l = i + 1;
+ rv1[i] = scale * g;
+ g = s = scale = (T)0.0;
+ if (i < m)
+ {
+ for (k = i; k < m; k++)
+ scale += fabs(U[k][i]);
+ if (scale != (T)0.0)
+ {
+ for (k = i; k < m; k++)
+ {
+ U[k][i] /= scale;
+ s += U[k][i] * U[k][i];
+ }
+ f = U[i][i];
+ g = -sign(f) * sqrt(s);
+ h = f * g - s;
+ U[i][i] = f - g;
+ for (j = l; j < n; j++)
+ {
+ s = (T)0.0;
+ for (k = i; k < m; k++)
+ s += U[k][i] * U[k][j];
+ f = s / h;
+ for (k = i; k < m; k++)
+ U[k][j] += f * U[k][i];
+ }
+ for (k = i; k < m; k++)
+ U[k][i] *= scale;
+ }
+ }
+ W[i] = scale * g;
+ g = s = scale = (T)0.0;
+ if (i < m && i != n - 1)
+ {
+ for (k = l; k < n; k++)
+ scale += fabs(U[i][k]);
+ if (scale != (T)0.0)
+ {
+ for (k = l; k < n; k++)
+ {
+ U[i][k] /= scale;
+ s += U[i][k] * U[i][k];
+ }
+ f = U[i][l];
+ g = -sign(f) * sqrt(s);
+ h = f * g - s;
+ U[i][l] = f - g;
+ for (k = l; k <n; k++)
+ rv1[k] = U[i][k] / h;
+ for (j = l; j < m; j++)
+ {
+ s = (T)0.0;
+ for (k = l; k < n; k++)
+ s += U[j][k] * U[i][k];
+ for (k = l; k < n; k++)
+ U[j][k] += s * rv1[k];
+ }
+ for (k = l; k < n; k++)
+ U[i][k] *= scale;
+ }
+ }
+ anorm = std::max(anorm, fabs(W[i]) + fabs(rv1[i]));
+ }
+ // Accumulation of right-hand transformations
+ for (i = n - 1; i >= 0; i--)
+ {
+ if (i < n - 1)
+ {
+ if (g != (T)0.0)
+ {
+ for (j = l; j < n; j++)
+ V[j][i] = (U[i][j] / U[i][l]) / g;
+ for (j = l; j < n; j++)
+ {
+ s = (T)0.0;
+ for (k = l; k < n; k++)
+ s += U[i][k] * V[k][j];
+ for (k = l; k < n; k++)
+ V[k][j] += s * V[k][i];
+ }
+ }
+ for (j = l; j < n; j++)
+ V[i][j] = V[j][i] = (T)0.0;
+ }
+ V[i][i] = (T)1.0;
+ g = rv1[i];
+ l = i;
+ }
+ // Accumulation of left-hand transformations
+ for (i = std::min(m, n) - 1; i >= 0; i--)
+ {
+ l = i + 1;
+ g = W[i];
+ for (j = l; j < n; j++)
+ U[i][j] = (T)0.0;
+ if (g != (T)0.0)
+ {
+ g = (T)1.0 / g;
+ for (j = l; j < n; j++)
+ {
+ s = (T)0.0;
+ for (k = l; k < m; k++)
+ s += U[k][i] * U[k][j];
+ f = (s / U[i][i]) * g;
+ for (k = i; k < m; k++)
+ U[k][j] += f * U[k][i];
+ }
+ for (j = i; j < m; j++)
+ U[j][i] *= g;
+ }
+ else
+ for (j = i; j < m; j++)
+ U[j][i] = (T)0.0;
+ U[i][i]++;
+ }
+ // Diagonalization of the bidiagonal form: loop over singular values, and over allowed iterations.
+ for (k = n - 1; k >= 0; k--)
+ {
+ for (unsigned int its = 0; its < max_its; its++)
+ {
+ flag = true;
+ for (l = k; l >= 0; l--)
+ { // Test for splitting
+ nm = l - 1; // Note that rV[0] is always zero
+ if ((T)(fabs(rv1[l]) + anorm) == anorm)
+ {
+ flag = false;
+ break;
+ }
+ if ((T)(fabs(W[nm]) + anorm) == anorm)
+ break;
+ }
+ if (flag)
+ {
+ // Cancellation of rv1[l], if l > 0 FIXME: it was l > 1 in NR
+ c = (T)0.0;
+ s = (T)1.0;
+ for (i = l; i <= k; i++)
+ {
+ f = s * rv1[i];
+ rv1[i] *= c;
+ if ((T)(fabs(f) + anorm) == anorm)
+ break;
+ g = W[i];
+ h = dist(f, g);
+ W[i] = h;
+ h = (T)1.0 / h;
+ c = g * h;
+ s = -f * h;
+ for (j = 0; j < m; j++)
+ {
+ y = U[j][nm];
+ z = U[j][i];
+ U[j][nm] = y * c + z * s;
+ U[j][i] = z * c - y * s;
+ }
+ }
+ }
+ z = W[k];
+ if (l == k)
+ { // Convergence
+ if (z < (T)0.0)
+ { // Singular value is made nonnegative
+ W[k] = -z;
+ for (j = 0; j < n; j++)
+ V[j][k] = -V[j][k];
+ }
+ break;
+ }
+ if (its == max_its)
+ throw std::logic_error("Error svd: no convergence in the maximum number of iterations");
+ x = W[l];
+ nm = k - 1;
+ y = W[nm];
+ g = rv1[nm];
+ h = rv1[k];
+ f = ((y - z) * (y + z) + (g - h) * (g + h)) / (2.0 * h * y);
+ g = dist(f, (T)1.0);
+ f = ((x - z) * (x + z) + h * ((y / (f + sign(f)*fabs(g))) - h)) / x;
+ c = s = (T)1.0; // Next QR transformation
+ for (j = l; j <= nm; j++)
+ {
+ i = j + 1;
+ g = rv1[i];
+ y = W[i];
+ h = s * g;
+ g *= c;
+ z = dist(f, h);
+ rv1[j] = z;
+ c = f / z;
+ s = h / z;
+ f = x * c + g * s;
+ g = g * c - x * s;
+ h = y * s;
+ y *= c;
+ for (jj = 0; jj < n; jj++)
+ {
+ x = V[jj][j];
+ z = V[jj][i];
+ V[jj][j] = x * c + z * s;
+ V[jj][i] = z * c - x * s;
+ }
+ z = dist(f, h);
+ W[j] = z;
+ if (z != 0) // Rotation can be arbitrary if z = 0
+ {
+ z = (T)1.0 / z;
+ c = f * z;
+ s = h * z;
+ }
+ f = c * g + s * y;
+ x = c * y - s * g;
+ for (jj = 0; jj < m; jj++)
+ {
+ y = U[jj][j];
+ z = U[jj][i];
+ U[jj][j] = y * c + z * s;
+ U[jj][i] = z * c - y * s;
+ }
+ }
+ rv1[l] = (T)0.0;
+ rv1[k] = f;
+ W[k] = x;
+ }
+ }
+}
+
+template <typename T>
+Matrix<T> pinv(const Matrix<T>& A)
+{
+ Matrix<T> U, V, x, tmp(A.ncols(), A.nrows());
+ Vector<T> W;
+ CanonicalBaseVector<T> e(0, A.nrows());
+ svd(A, U, W, V);
+ for (unsigned int i = 0; i < A.nrows(); i++)
+ {
+ e.reset(i);
+ tmp.setColumn(i, dot_prod(dot_prod(dot_prod(V, Matrix<double>(DIAG, 1.0 / W, 0.0, W.size(), W.size())), t(U)), e));
+ }
+
+ return tmp;
+}
+
+template <typename T>
+int lu(const Matrix<T>& A, Matrix<T>& LU, Vector<unsigned int>& index)
+{
+ if (A.ncols() != A.nrows())
+ throw std::logic_error("Error in LU decomposition: matrix must be squared");
+ int i, p, j, k, n = A.ncols(), ex;
+ T val, tmp;
+ Vector<T> d(n);
+ LU = A;
+ index.resize(n);
+
+ ex = 1;
+ for (i = 0; i < n; i++)
+ {
+ index[i] = i;
+ val = (T)0.0;
+ for (j = 0; j < n; j++)
+ val = std::max(val, (T)fabs(LU[i][j]));
+ if (val == (T)0.0)
+ std::logic_error("Error in LU decomposition: matrix was singular");
+ d[i] = val;
+ }
+
+ for (k = 0; k < n - 1; k++)
+ {
+ p = k;
+ val = fabs(LU[k][k]) / d[k];
+ for (i = k + 1; i < n; i++)
+ {
+ tmp = fabs(LU[i][k]) / d[i];
+ if (tmp > val)
+ {
+ val = tmp;
+ p = i;
+ }
+ }
+ if (val == (T)0.0)
+ std::logic_error("Error in LU decomposition: matrix was singular");
+ if (p > k)
+ {
+ ex = -ex;
+ std::swap(index[k], index[p]);
+ std::swap(d[k], d[p]);
+ for (j = 0; j < n; j++)
+ std::swap(LU[k][j], LU[p][j]);
+ }
+
+ for (i = k + 1; i < n; i++)
+ {
+ LU[i][k] /= LU[k][k];
+ for (j = k + 1; j < n; j++)
+ LU[i][j] -= LU[i][k] * LU[k][j];
+ }
+ }
+ if (LU[n - 1][n - 1] == (T)0.0)
+ std::logic_error("Error in LU decomposition: matrix was singular");
+
+ return ex;
+}
+
+template <typename T>
+Vector<T> lu_solve(const Matrix<T>& LU, const Vector<T>& b, Vector<unsigned int>& index)
+{
+ if (LU.ncols() != LU.nrows())
+ throw std::logic_error("Error in LU solve: LU matrix should be squared");
+ unsigned int n = LU.ncols();
+ if (b.size() != n)
+ throw std::logic_error("Error in LU solve: b vector must be of the same dimensions of LU matrix");
+ Vector<T> x((T)0.0, n);
+ int i, j, p;
+ T sum;
+
+ p = index[0];
+ x[0] = b[p];
+
+ for (i = 1; i < n; i++)
+ {
+ sum = (T)0.0;
+ for (j = 0; j < i; j++)
+ sum += LU[i][j] * x[j];
+ p = index[i];
+ x[i] = b[p] - sum;
+ }
+ x[n - 1] /= LU[n - 1][n - 1];
+ for (i = n - 2; i >= 0; i--)
+ {
+ sum = (T)0.0;
+ for (j = i + 1; j < n; j++)
+ sum += LU[i][j] * x[j];
+ x[i] = (x[i] - sum) / LU[i][i];
+ }
+ return x;
+}
+
+template <typename T>
+void lu_solve(const Matrix<T>& LU, Vector<T>& x, const Vector<T>& b, Vector<unsigned int>& index)
+{
+ x = lu_solve(LU, b, index);
+}
+
+template <typename T>
+Matrix<T> lu_inverse(const Matrix<T>& A)
+{
+ if (A.ncols() != A.nrows())
+ throw std::logic_error("Error in LU invert: matrix must be squared");
+ unsigned int n = A.ncols();
+ Matrix<T> A1(n, n), LU;
+ Vector<unsigned int> index;
+
+ lu(A, LU, index);
+ CanonicalBaseVector<T> e(0, n);
+ for (unsigned i = 0; i < n; i++)
+ {
+ e.reset(i);
+ A1.setColumn(i, lu_solve(LU, e, index));
+ }
+
+ return A1;
+}
+
+template <typename T>
+T lu_det(const Matrix<T>& A)
+{
+ if (A.ncols() != A.nrows())
+ throw std::logic_error("Error in LU determinant: matrix must be squared");
+ unsigned int d;
+ Matrix<T> LU;
+ Vector<unsigned int> index;
+
+ d = lu(A, LU, index);
+
+ return d * prod(LU.extractDiag());
+}
+
+template <typename T>
+void cholesky(const Matrix<T> A, Matrix<T>& LL)
+{
+ if (A.ncols() != A.nrows())
+ throw std::logic_error("Error in Cholesky decomposition: matrix must be squared");
+ int n = A.ncols();
+ double sum;
+ LL = A;
+
+ for (unsigned int i = 0; i < n; i++)
+ {
+ for (unsigned int j = i; j < n; j++)
+ {
+ sum = LL[i][j];
+ for (int k = i - 1; k >= 0; k--)
+ sum -= LL[i][k] * LL[j][k];
+ if (i == j)
+ {
+ if (sum <= 0.0)
+ throw std::logic_error("Error in Cholesky decomposition: matrix is not postive definite");
+ LL[i][i] = sqrt(sum);
+ }
+ else
+ LL[j][i] = sum / LL[i][i];
+ }
+ for (unsigned int k = i + 1; k < n; k++)
+ LL[i][k] = LL[k][i];
+ }
+}
+
+template <typename T>
+Matrix<T> cholesky(const Matrix<T> A)
+{
+ Matrix<T> LL;
+ cholesky(A, LL);
+
+ return LL;
+}
+
+template <typename T>
+Vector<T> cholesky_solve(const Matrix<T>& LL, const Vector<T>& b)
+{
+ if (LL.ncols() != LL.nrows())
+ throw std::logic_error("Error in Cholesky solve: matrix must be squared");
+ unsigned int n = LL.ncols();
+ if (b.size() != n)
+ throw std::logic_error("Error in Cholesky decomposition: b vector must be of the same dimensions of LU matrix");
+ Vector<T> x, y;
+
+ /* Solve L * y = b */
+ forward_elimination(LL, y, b);
+ /* Solve L^T * x = y */
+ backward_elimination(LL, x, y);
+
+ return x;
+}
+
+template <typename T>
+void cholesky_solve(const Matrix<T>& LL, Vector<T>& x, const Vector<T>& b)
+{
+ x = cholesky_solve(LL, b);
+}
+
+template <typename T>
+void forward_elimination(const Matrix<T>& L, Vector<T>& y, const Vector<T> b)
+{
+ if (L.ncols() != L.nrows())
+ throw std::logic_error("Error in Forward elimination: matrix must be squared (lower triangular)");
+ if (b.size() != L.nrows())
+ throw std::logic_error("Error in Forward elimination: b vector must be of the same dimensions of L matrix");
+ unsigned int n = b.size();
+ y.resize(n);
+
+ y[0] = b[0] / L[0][0];
+ for (unsigned int i = 1; i < n; i++)
+ {
+ y[i] = b[i];
+ for (unsigned int j = 0; j < i; j++)
+ y[i] -= L[i][j] * y[j];
+ y[i] = y[i] / L[i][i];
+ }
+}
+
+template <typename T>
+Vector<T> forward_elimination(const Matrix<T>& L, const Vector<T> b)
+{
+ Vector<T> y;
+ forward_elimination(L, y, b);
+
+ return y;
+}
+
+template <typename T>
+void backward_elimination(const Matrix<T>& U, Vector<T>& x, const Vector<T>& y)
+{
+ if (U.ncols() != U.nrows())
+ throw std::logic_error("Error in Backward elimination: matrix must be squared (upper triangular)");
+ if (y.size() != U.nrows())
+ throw std::logic_error("Error in Backward elimination: b vector must be of the same dimensions of U matrix");
+ int n = y.size();
+ x.resize(n);
+
+ x[n - 1] = y[n - 1] / U[n - 1][n - 1];
+ for (int i = n - 2; i >= 0; i--)
+ {
+ x[i] = y[i];
+ for (int j = i + 1; j < n; j++)
+ x[i] -= U[i][j] * x[j];
+ x[i] = x[i] / U[i][i];
+ }
+}
+
+template <typename T>
+Vector<T> backward_elimination(const Matrix<T>& U, const Vector<T> y)
+{
+ Vector<T> x;
+ forward_elimination(U, x, y);
+
+ return x;
+}
+
+/* Setting default linear systems machinery */
+
+// #define det lu_det
+// #define inverse lu_inverse
+// #define solve lu_solve
+
+/* Random */
+
+template <typename T>
+void random(Matrix<T>& m)
+{
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ m[i][j] = (T)(rand() / double(RAND_MAX));
+}
+
+/**
+ Aggregate functions
+*/
+
+template <typename T>
+Vector<T> sum(const Matrix<T>& m)
+{
+ Vector<T> tmp((T)0, m.ncols());
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ tmp[j] += m[i][j];
+ return tmp;
+}
+
+template <typename T>
+Vector<T> r_sum(const Matrix<T>& m)
+{
+ Vector<T> tmp((T)0, m.nrows());
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ tmp[i] += m[i][j];
+ return tmp;
+}
+
+template <typename T>
+T all_sum(const Matrix<T>& m)
+{
+ T tmp = (T)0;
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ tmp += m[i][j];
+ return tmp;
+}
+
+template <typename T>
+Vector<T> prod(const Matrix<T>& m)
+{
+ Vector<T> tmp((T)1, m.ncols());
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ tmp[j] *= m[i][j];
+ return tmp;
+}
+
+template <typename T>
+Vector<T> r_prod(const Matrix<T>& m)
+{
+ Vector<T> tmp((T)1, m.nrows());
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ tmp[i] *= m[i][j];
+ return tmp;
+}
+
+template <typename T>
+T all_prod(const Matrix<T>& m)
+{
+ T tmp = (T)1;
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ tmp *= m[i][j];
+ return tmp;
+}
+
+template <typename T>
+Vector<T> mean(const Matrix<T>& m)
+{
+ Vector<T> res((T)0, m.ncols());
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ {
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ res[j] += m[i][j];
+ res[j] /= m.nrows();
+ }
+
+ return res;
+}
+
+template <typename T>
+Vector<T> r_mean(const Matrix<T>& m)
+{
+ Vector<T> res((T)0, m.rows());
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ {
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ res[i] += m[i][j];
+ res[i] /= m.nrows();
+ }
+
+ return res;
+}
+
+template <typename T>
+T all_mean(const Matrix<T>& m)
+{
+ T tmp = (T)0;
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ tmp += m[i][j];
+ return tmp / (m.nrows() * m.ncols());
+}
+
+template <typename T>
+Vector<T> var(const Matrix<T>& m, bool sample_correction = false)
+{
+ Vector<T> res((T)0, m.ncols());
+ unsigned int n = m.nrows();
+ double sum, ssum;
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ {
+ sum = (T)0.0; ssum = (T)0.0;
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ {
+ sum += m[i][j];
+ ssum += (m[i][j] * m[i][j]);
+ }
+ if (!sample_correction)
+ res[j] = (ssum / n) - (sum / n) * (sum / n);
+ else
+ res[j] = n * ((ssum / n) - (sum / n) * (sum / n)) / (n - 1);
+ }
+
+ return res;
+}
+
+template <typename T>
+Vector<T> stdev(const Matrix<T>& m, bool sample_correction = false)
+{
+ return vec_sqrt(var(m, sample_correction));
+}
+
+template <typename T>
+Vector<T> r_var(const Matrix<T>& m, bool sample_correction = false)
+{
+ Vector<T> res((T)0, m.nrows());
+ double sum, ssum;
+ unsigned int n = m.ncols();
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ {
+ sum = 0.0; ssum = 0.0;
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ {
+ sum += m[i][j];
+ ssum += (m[i][j] * m[i][j]);
+ }
+ if (!sample_correction)
+ res[i] = (ssum / n) - (sum / n) * (sum / n);
+ else
+ res[i] = n * ((ssum / n) - (sum / n) * (sum / n)) / (n - 1);
+ }
+
+ return res;
+}
+
+template <typename T>
+Vector<T> r_stdev(const Matrix<T>& m, bool sample_correction = false)
+{
+ return vec_sqrt(r_var(m, sample_correction));
+}
+
+template <typename T>
+Vector<T> max(const Matrix<T>& m)
+{
+ Vector<T> res(m.ncols());
+ double value;
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ {
+ value = m[0][j];
+ for (unsigned int i = 1; i < m.nrows(); i++)
+ value = std::max(m[i][j], value);
+ res[j] = value;
+ }
+
+ return res;
+}
+
+template <typename T>
+Vector<T> r_max(const Matrix<T>& m)
+{
+ Vector<T> res(m.nrows());
+ double value;
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ {
+ value = m[i][0];
+ for (unsigned int j = 1; j < m.ncols(); j++)
+ value = std::max(m[i][j], value);
+ res[i] = value;
+ }
+
+ return res;
+}
+
+template <typename T>
+Vector<T> min(const Matrix<T>& m)
+{
+ Vector<T> res(m.ncols());
+ double value;
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ {
+ value = m[0][j];
+ for (unsigned int i = 1; i < m.nrows(); i++)
+ value = std::min(m[i][j], value);
+ res[j] = value;
+ }
+
+ return res;
+}
+
+template <typename T>
+Vector<T> r_min(const Matrix<T>& m)
+{
+ Vector<T> res(m.nrows());
+ double value;
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ {
+ value = m[i][0];
+ for (unsigned int j = 1; j < m.ncols(); j++)
+ value = std::min(m[i][j], value);
+ res[i] = value;
+ }
+
+ return res;
+}
+
+
+
+/**
+ Single element mathematical functions
+*/
+
+template <typename T>
+Matrix<T> exp(const Matrix<T>&m)
+{
+ Matrix<T> tmp(m.nrows(), m.ncols());
+
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ tmp[i][j] = exp(m[i][j]);
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> mat_sqrt(const Matrix<T>&m)
+{
+ Matrix<T> tmp(m.nrows(), m.ncols());
+
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ tmp[i][j] = sqrt(m[i][j]);
+
+ return tmp;
+}
+
+/**
+ Matrix operators
+*/
+
+template <typename T>
+Matrix<T> kron(const Vector<T>& b, const Vector<T>& a)
+{
+ Matrix<T> tmp(b.size(), a.size());
+ for (unsigned int i = 0; i < b.size(); i++)
+ for (unsigned int j = 0; j < a.size(); j++)
+ tmp[i][j] = a[j] * b[i];
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> t(const Matrix<T>& a)
+{
+ Matrix<T> tmp(a.ncols(), a.nrows());
+ for (unsigned int i = 0; i < a.nrows(); i++)
+ for (unsigned int j = 0; j < a.ncols(); j++)
+ tmp[j][i] = a[i][j];
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> dot_prod(const Matrix<T>& a, const Matrix<T>& b)
+{
+ if (a.ncols() != b.nrows())
+ throw std::logic_error("Error matrix dot product: dimensions of the matrices are not compatible");
+ Matrix<T> tmp(a.nrows(), b.ncols());
+ for (unsigned int i = 0; i < tmp.nrows(); i++)
+ for (unsigned int j = 0; j < tmp.ncols(); j++)
+ {
+ tmp[i][j] = (T)0;
+ for (unsigned int k = 0; k < a.ncols(); k++)
+ tmp[i][j] += a[i][k] * b[k][j];
+ }
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> dot_prod(const Matrix<T>& a, const Vector<T>& b)
+{
+ if (a.ncols() != b.size())
+ throw std::logic_error("Error matrix dot product: dimensions of the matrix and the vector are not compatible");
+ Matrix<T> tmp(a.nrows(), 1);
+ for (unsigned int i = 0; i < tmp.nrows(); i++)
+ {
+ tmp[i][0] = (T)0;
+ for (unsigned int k = 0; k < a.ncols(); k++)
+ tmp[i][0] += a[i][k] * b[k];
+ }
+
+ return tmp;
+}
+
+template <typename T>
+Matrix<T> dot_prod(const Vector<T>& a, const Matrix<T>& b)
+{
+ if (a.size() != b.nrows())
+ throw std::logic_error("Error matrix dot product: dimensions of the vector and matrix are not compatible");
+ Matrix<T> tmp(1, b.ncols());
+ for (unsigned int j = 0; j < tmp.ncols(); j++)
+ {
+ tmp[0][j] = (T)0;
+ for (unsigned int k = 0; k < a.size(); k++)
+ tmp[0][j] += a[k] * b[k][j];
+ }
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<double> rank(const Matrix<T> m)
+{
+ Matrix<double> tmp(m.nrows(), m.ncols());
+ for (unsigned int j = 0; j < m.ncols(); j++)
+ tmp.setColumn(j, rank<T>(m.extractColumn(j)));
+
+ return tmp;
+}
+
+template <typename T>
+inline Matrix<double> r_rank(const Matrix<T> m)
+{
+ Matrix<double> tmp(m.nrows(), m.ncols());
+ for (unsigned int i = 0; i < m.nrows(); i++)
+ tmp.setRow(i, rank<T>(m.extractRow(i)));
+
+ return tmp;
+}
+
+} // namespace quadprogpp
+
+#endif // define _ARRAY_HH_
diff --git a/include/thirdparty/quadProgpp/QuadProg++.hh b/include/thirdparty/quadProgpp/QuadProg++.hh
old mode 100644
new mode 100755
index c2954d4..88660e1
--- a/include/thirdparty/quadProgpp/QuadProg++.hh
+++ b/include/thirdparty/quadProgpp/QuadProg++.hh
@@ -1,77 +1,77 @@
-/*
- File $Id: QuadProg++.hh 232 2007-06-21 12:29:00Z digasper $
-
- The quadprog_solve() function implements the algorithm of Goldfarb and Idnani
- for the solution of a (convex) Quadratic Programming problem
- by means of an active-set dual method.
-
-The problem is in the form:
-
-min 0.5 * x G x + g0 x
-s.t.
- CE^T x + ce0 = 0
- CI^T x + ci0 >= 0
-
- The matrix and vectors dimensions are as follows:
- G: n * n
- g0: n
-
- CE: n * p
- ce0: p
-
- CI: n * m
- ci0: m
-
- x: n
-
- The function will return the cost of the solution written in the x vector or
- std::numeric_limits::infinity() if the problem is infeasible. In the latter case
- the value of the x vector is not correct.
-
- References: D. Goldfarb, A. Idnani. A numerically stable dual method for solving
- strictly convex quadratic programs. Mathematical Programming 27 (1983) pp. 1-33.
-
- Notes:
- 1. pay attention in setting up the vectors ce0 and ci0.
- If the constraints of your problem are specified in the form
- A^T x = b and C^T x >= d, then you should set ce0 = -b and ci0 = -d.
- 2. The matrices have column dimension equal to MATRIX_DIM,
- a constant set to 20 in this file (by means of a #define macro).
- If the matrices are bigger than 20 x 20 the limit could be
- increased by means of a -DMATRIX_DIM=n on the compiler command line.
- 3. The matrix G is modified within the function since it is used to compute
- the G = L^T L cholesky factorization for further computations inside the function.
- If you need the original matrix G you should make a copy of it and pass the copy
- to the function.
-
- Author: Luca Di Gaspero
- DIEGM - University of Udine, Italy
- luca.digaspero@uniud.it
- http://www.diegm.uniud.it/digaspero/
-
- The author will be grateful if the researchers using this software will
- acknowledge the contribution of this function in their research papers.
-
- Copyright (c) 2007-2016 Luca Di Gaspero
-
- This software may be modified and distributed under the terms
- of the MIT license. See the LICENSE file for details.
-*/
-
-
-#ifndef _QUADPROGPP
-#define _QUADPROGPP
-
-#include "thirdparty/quadProgpp/Array.hh"
-#include <eigen3/Eigen/Dense>
-
-namespace quadprogpp {
-
-double solve_quadprog(Matrix<double>& G, Vector<double>& g0,
- const Matrix<double>& CE, const Vector<double>& ce0,
- const Matrix<double>& CI, const Vector<double>& ci0,
- Vector<double>& x);
-
-} // namespace quadprogpp
-
-#endif // #define _QUADPROGPP
+/*
+ File $Id: QuadProg++.hh 232 2007-06-21 12:29:00Z digasper $
+
+ The quadprog_solve() function implements the algorithm of Goldfarb and Idnani
+ for the solution of a (convex) Quadratic Programming problem
+ by means of an active-set dual method.
+
+The problem is in the form:
+
+min 0.5 * x G x + g0 x
+s.t.
+ CE^T x + ce0 = 0
+ CI^T x + ci0 >= 0
+
+ The matrix and vectors dimensions are as follows:
+ G: n * n
+ g0: n
+
+ CE: n * p
+ ce0: p
+
+ CI: n * m
+ ci0: m
+
+ x: n
+
+ The function will return the cost of the solution written in the x vector or
+ std::numeric_limits::infinity() if the problem is infeasible. In the latter case
+ the value of the x vector is not correct.
+
+ References: D. Goldfarb, A. Idnani. A numerically stable dual method for solving
+ strictly convex quadratic programs. Mathematical Programming 27 (1983) pp. 1-33.
+
+ Notes:
+ 1. pay attention in setting up the vectors ce0 and ci0.
+ If the constraints of your problem are specified in the form
+ A^T x = b and C^T x >= d, then you should set ce0 = -b and ci0 = -d.
+ 2. The matrices have column dimension equal to MATRIX_DIM,
+ a constant set to 20 in this file (by means of a #define macro).
+ If the matrices are bigger than 20 x 20 the limit could be
+ increased by means of a -DMATRIX_DIM=n on the compiler command line.
+ 3. The matrix G is modified within the function since it is used to compute
+ the G = L^T L cholesky factorization for further computations inside the function.
+ If you need the original matrix G you should make a copy of it and pass the copy
+ to the function.
+
+ Author: Luca Di Gaspero
+ DIEGM - University of Udine, Italy
+ luca.digaspero@uniud.it
+ http://www.diegm.uniud.it/digaspero/
+
+ The author will be grateful if the researchers using this software will
+ acknowledge the contribution of this function in their research papers.
+
+ Copyright (c) 2007-2016 Luca Di Gaspero
+
+ This software may be modified and distributed under the terms
+ of the MIT license. See the LICENSE file for details.
+*/
+
+
+#ifndef _QUADPROGPP
+#define _QUADPROGPP
+
+#include "thirdparty/quadProgpp/Array.hh"
+#include <eigen3/Eigen/Dense>
+
+namespace quadprogpp {
+
+double solve_quadprog(Matrix<double>& G, Vector<double>& g0,
+ const Matrix<double>& CE, const Vector<double>& ce0,
+ const Matrix<double>& CI, const Vector<double>& ci0,
+ Vector<double>& x);
+
+} // namespace quadprogpp
+
+#endif // #define _QUADPROGPP
diff --git a/include/thirdparty/tinyxml/tinystr.h b/include/thirdparty/tinyxml/tinystr.h
index 89cca33..c3cac34 100644
--- a/include/thirdparty/tinyxml/tinystr.h
+++ b/include/thirdparty/tinyxml/tinystr.h
@@ -1,305 +1,305 @@
-/*
-www.sourceforge.net/projects/tinyxml
-
-This software is provided 'as-is', without any express or implied
-warranty. In no event will the authors be held liable for any
-damages arising from the use of this software.
-
-Permission is granted to anyone to use this software for any
-purpose, including commercial applications, and to alter it and
-redistribute it freely, subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must
-not claim that you wrote the original software. If you use this
-software in a product, an acknowledgment in the product documentation
-would be appreciated but is not required.
-
-2. Altered source versions must be plainly marked as such, and
-must not be misrepresented as being the original software.
-
-3. This notice may not be removed or altered from any source
-distribution.
-*/
-
-
-#ifndef TIXML_USE_STL
-
-#ifndef TIXML_STRING_INCLUDED
-#define TIXML_STRING_INCLUDED
-
-#include <assert.h>
-#include <string.h>
-
-/* The support for explicit isn't that universal, and it isn't really
- required - it is used to check that the TiXmlString class isn't incorrectly
- used. Be nice to old compilers and macro it here:
-*/
-#if defined(_MSC_VER) && (_MSC_VER >= 1200 )
- // Microsoft visual studio, version 6 and higher.
- #define TIXML_EXPLICIT explicit
-#elif defined(__GNUC__) && (__GNUC__ >= 3 )
- // GCC version 3 and higher.s
- #define TIXML_EXPLICIT explicit
-#else
- #define TIXML_EXPLICIT
-#endif
-
-
-/*
- TiXmlString is an emulation of a subset of the std::string template.
- Its purpose is to allow compiling TinyXML on compilers with no or poor STL support.
- Only the member functions relevant to the TinyXML project have been implemented.
- The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase
- a string and there's no more room, we allocate a buffer twice as big as we need.
-*/
-class TiXmlString
-{
- public :
- // The size type used
- typedef size_t size_type;
-
- // Error value for find primitive
- static const size_type npos; // = -1;
-
-
- // TiXmlString empty constructor
- TiXmlString () : rep_(&nullrep_)
- {
- }
-
- // TiXmlString copy constructor
- TiXmlString ( const TiXmlString & copy) : rep_(0)
- {
- init(copy.length());
- memcpy(start(), copy.data(), length());
- }
-
- // TiXmlString constructor, based on a string
- TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0)
- {
- init( static_cast<size_type>( strlen(copy) ));
- memcpy(start(), copy, length());
- }
-
- // TiXmlString constructor, based on a string
- TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0)
- {
- init(len);
- memcpy(start(), str, len);
- }
-
- // TiXmlString destructor
- ~TiXmlString ()
- {
- quit();
- }
-
- TiXmlString& operator = (const char * copy)
- {
- return assign( copy, (size_type)strlen(copy));
- }
-
- TiXmlString& operator = (const TiXmlString & copy)
- {
- return assign(copy.start(), copy.length());
- }
-
-
- // += operator. Maps to append
- TiXmlString& operator += (const char * suffix)
- {
- return append(suffix, static_cast<size_type>( strlen(suffix) ));
- }
-
- // += operator. Maps to append
- TiXmlString& operator += (char single)
- {
- return append(&single, 1);
- }
-
- // += operator. Maps to append
- TiXmlString& operator += (const TiXmlString & suffix)
- {
- return append(suffix.data(), suffix.length());
- }
-
-
- // Convert a TiXmlString into a null-terminated char *
- const char * c_str () const { return rep_->str; }
-
- // Convert a TiXmlString into a char * (need not be null terminated).
- const char * data () const { return rep_->str; }
-
- // Return the length of a TiXmlString
- size_type length () const { return rep_->size; }
-
- // Alias for length()
- size_type size () const { return rep_->size; }
-
- // Checks if a TiXmlString is empty
- bool empty () const { return rep_->size == 0; }
-
- // Return capacity of string
- size_type capacity () const { return rep_->capacity; }
-
-
- // single char extraction
- const char& at (size_type index) const
- {
- assert( index < length() );
- return rep_->str[ index ];
- }
-
- // [] operator
- char& operator [] (size_type index) const
- {
- assert( index < length() );
- return rep_->str[ index ];
- }
-
- // find a char in a string. Return TiXmlString::npos if not found
- size_type find (char lookup) const
- {
- return find(lookup, 0);
- }
-
- // find a char in a string from an offset. Return TiXmlString::npos if not found
- size_type find (char tofind, size_type offset) const
- {
- if (offset >= length()) return npos;
-
- for (const char* p = c_str() + offset; *p != '\0'; ++p)
- {
- if (*p == tofind) return static_cast< size_type >( p - c_str() );
- }
- return npos;
- }
-
- void clear ()
- {
- //Lee:
- //The original was just too strange, though correct:
- // TiXmlString().swap(*this);
- //Instead use the quit & re-init:
- quit();
- init(0,0);
- }
-
- /* Function to reserve a big amount of data when we know we'll need it. Be aware that this
- function DOES NOT clear the content of the TiXmlString if any exists.
- */
- void reserve (size_type cap);
-
- TiXmlString& assign (const char* str, size_type len);
-
- TiXmlString& append (const char* str, size_type len);
-
- void swap (TiXmlString& other)
- {
- Rep* r = rep_;
- rep_ = other.rep_;
- other.rep_ = r;
- }
-
- private:
-
- void init(size_type sz) { init(sz, sz); }
- void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; }
- char* start() const { return rep_->str; }
- char* finish() const { return rep_->str + rep_->size; }
-
- struct Rep
- {
- size_type size, capacity;
- char str[1];
- };
-
- void init(size_type sz, size_type cap)
- {
- if (cap)
- {
- // Lee: the original form:
- // rep_ = static_cast<Rep*>(operator new(sizeof(Rep) + cap));
- // doesn't work in some cases of new being overloaded. Switching
- // to the normal allocation, although use an 'int' for systems
- // that are overly picky about structure alignment.
- const size_type bytesNeeded = sizeof(Rep) + cap;
- const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int );
- rep_ = reinterpret_cast<Rep*>( new int[ intsNeeded ] );
-
- rep_->str[ rep_->size = sz ] = '\0';
- rep_->capacity = cap;
- }
- else
- {
- rep_ = &nullrep_;
- }
- }
-
- void quit()
- {
- if (rep_ != &nullrep_)
- {
- // The rep_ is really an array of ints. (see the allocator, above).
- // Cast it back before delete, so the compiler won't incorrectly call destructors.
- delete [] ( reinterpret_cast<int*>( rep_ ) );
- }
- }
-
- Rep * rep_;
- static Rep nullrep_;
-
-} ;
-
-
-inline bool operator == (const TiXmlString & a, const TiXmlString & b)
-{
- return ( a.length() == b.length() ) // optimization on some platforms
- && ( strcmp(a.c_str(), b.c_str()) == 0 ); // actual compare
-}
-inline bool operator < (const TiXmlString & a, const TiXmlString & b)
-{
- return strcmp(a.c_str(), b.c_str()) < 0;
-}
-
-inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); }
-inline bool operator > (const TiXmlString & a, const TiXmlString & b) { return b < a; }
-inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); }
-inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); }
-
-inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; }
-inline bool operator == (const char* a, const TiXmlString & b) { return b == a; }
-inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); }
-inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); }
-
-TiXmlString operator + (const TiXmlString & a, const TiXmlString & b);
-TiXmlString operator + (const TiXmlString & a, const char* b);
-TiXmlString operator + (const char* a, const TiXmlString & b);
-
-
-/*
- TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString.
- Only the operators that we need for TinyXML have been developped.
-*/
-class TiXmlOutStream : public TiXmlString
-{
-public :
-
- // TiXmlOutStream << operator.
- TiXmlOutStream & operator << (const TiXmlString & in)
- {
- *this += in;
- return *this;
- }
-
- // TiXmlOutStream << operator.
- TiXmlOutStream & operator << (const char * in)
- {
- *this += in;
- return *this;
- }
-
-} ;
-
-#endif // TIXML_STRING_INCLUDED
-#endif // TIXML_USE_STL
+/*
+www.sourceforge.net/projects/tinyxml
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+*/
+
+
+#ifndef TIXML_USE_STL
+
+#ifndef TIXML_STRING_INCLUDED
+#define TIXML_STRING_INCLUDED
+
+#include <assert.h>
+#include <string.h>
+
+/* The support for explicit isn't that universal, and it isn't really
+ required - it is used to check that the TiXmlString class isn't incorrectly
+ used. Be nice to old compilers and macro it here:
+*/
+#if defined(_MSC_VER) && (_MSC_VER >= 1200 )
+ // Microsoft visual studio, version 6 and higher.
+ #define TIXML_EXPLICIT explicit
+#elif defined(__GNUC__) && (__GNUC__ >= 3 )
+ // GCC version 3 and higher.s
+ #define TIXML_EXPLICIT explicit
+#else
+ #define TIXML_EXPLICIT
+#endif
+
+
+/*
+ TiXmlString is an emulation of a subset of the std::string template.
+ Its purpose is to allow compiling TinyXML on compilers with no or poor STL support.
+ Only the member functions relevant to the TinyXML project have been implemented.
+ The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase
+ a string and there's no more room, we allocate a buffer twice as big as we need.
+*/
+class TiXmlString
+{
+ public :
+ // The size type used
+ typedef size_t size_type;
+
+ // Error value for find primitive
+ static const size_type npos; // = -1;
+
+
+ // TiXmlString empty constructor
+ TiXmlString () : rep_(&nullrep_)
+ {
+ }
+
+ // TiXmlString copy constructor
+ TiXmlString ( const TiXmlString & copy) : rep_(0)
+ {
+ init(copy.length());
+ memcpy(start(), copy.data(), length());
+ }
+
+ // TiXmlString constructor, based on a string
+ TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0)
+ {
+ init( static_cast<size_type>( strlen(copy) ));
+ memcpy(start(), copy, length());
+ }
+
+ // TiXmlString constructor, based on a string
+ TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0)
+ {
+ init(len);
+ memcpy(start(), str, len);
+ }
+
+ // TiXmlString destructor
+ ~TiXmlString ()
+ {
+ quit();
+ }
+
+ TiXmlString& operator = (const char * copy)
+ {
+ return assign( copy, (size_type)strlen(copy));
+ }
+
+ TiXmlString& operator = (const TiXmlString & copy)
+ {
+ return assign(copy.start(), copy.length());
+ }
+
+
+ // += operator. Maps to append
+ TiXmlString& operator += (const char * suffix)
+ {
+ return append(suffix, static_cast<size_type>( strlen(suffix) ));
+ }
+
+ // += operator. Maps to append
+ TiXmlString& operator += (char single)
+ {
+ return append(&single, 1);
+ }
+
+ // += operator. Maps to append
+ TiXmlString& operator += (const TiXmlString & suffix)
+ {
+ return append(suffix.data(), suffix.length());
+ }
+
+
+ // Convert a TiXmlString into a null-terminated char *
+ const char * c_str () const { return rep_->str; }
+
+ // Convert a TiXmlString into a char * (need not be null terminated).
+ const char * data () const { return rep_->str; }
+
+ // Return the length of a TiXmlString
+ size_type length () const { return rep_->size; }
+
+ // Alias for length()
+ size_type size () const { return rep_->size; }
+
+ // Checks if a TiXmlString is empty
+ bool empty () const { return rep_->size == 0; }
+
+ // Return capacity of string
+ size_type capacity () const { return rep_->capacity; }
+
+
+ // single char extraction
+ const char& at (size_type index) const
+ {
+ assert( index < length() );
+ return rep_->str[ index ];
+ }
+
+ // [] operator
+ char& operator [] (size_type index) const
+ {
+ assert( index < length() );
+ return rep_->str[ index ];
+ }
+
+ // find a char in a string. Return TiXmlString::npos if not found
+ size_type find (char lookup) const
+ {
+ return find(lookup, 0);
+ }
+
+ // find a char in a string from an offset. Return TiXmlString::npos if not found
+ size_type find (char tofind, size_type offset) const
+ {
+ if (offset >= length()) return npos;
+
+ for (const char* p = c_str() + offset; *p != '\0'; ++p)
+ {
+ if (*p == tofind) return static_cast< size_type >( p - c_str() );
+ }
+ return npos;
+ }
+
+ void clear ()
+ {
+ //Lee:
+ //The original was just too strange, though correct:
+ // TiXmlString().swap(*this);
+ //Instead use the quit & re-init:
+ quit();
+ init(0,0);
+ }
+
+ /* Function to reserve a big amount of data when we know we'll need it. Be aware that this
+ function DOES NOT clear the content of the TiXmlString if any exists.
+ */
+ void reserve (size_type cap);
+
+ TiXmlString& assign (const char* str, size_type len);
+
+ TiXmlString& append (const char* str, size_type len);
+
+ void swap (TiXmlString& other)
+ {
+ Rep* r = rep_;
+ rep_ = other.rep_;
+ other.rep_ = r;
+ }
+
+ private:
+
+ void init(size_type sz) { init(sz, sz); }
+ void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; }
+ char* start() const { return rep_->str; }
+ char* finish() const { return rep_->str + rep_->size; }
+
+ struct Rep
+ {
+ size_type size, capacity;
+ char str[1];
+ };
+
+ void init(size_type sz, size_type cap)
+ {
+ if (cap)
+ {
+ // Lee: the original form:
+ // rep_ = static_cast<Rep*>(operator new(sizeof(Rep) + cap));
+ // doesn't work in some cases of new being overloaded. Switching
+ // to the normal allocation, although use an 'int' for systems
+ // that are overly picky about structure alignment.
+ const size_type bytesNeeded = sizeof(Rep) + cap;
+ const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int );
+ rep_ = reinterpret_cast<Rep*>( new int[ intsNeeded ] );
+
+ rep_->str[ rep_->size = sz ] = '\0';
+ rep_->capacity = cap;
+ }
+ else
+ {
+ rep_ = &nullrep_;
+ }
+ }
+
+ void quit()
+ {
+ if (rep_ != &nullrep_)
+ {
+ // The rep_ is really an array of ints. (see the allocator, above).
+ // Cast it back before delete, so the compiler won't incorrectly call destructors.
+ delete [] ( reinterpret_cast<int*>( rep_ ) );
+ }
+ }
+
+ Rep * rep_;
+ static Rep nullrep_;
+
+} ;
+
+
+inline bool operator == (const TiXmlString & a, const TiXmlString & b)
+{
+ return ( a.length() == b.length() ) // optimization on some platforms
+ && ( strcmp(a.c_str(), b.c_str()) == 0 ); // actual compare
+}
+inline bool operator < (const TiXmlString & a, const TiXmlString & b)
+{
+ return strcmp(a.c_str(), b.c_str()) < 0;
+}
+
+inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); }
+inline bool operator > (const TiXmlString & a, const TiXmlString & b) { return b < a; }
+inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); }
+inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); }
+
+inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; }
+inline bool operator == (const char* a, const TiXmlString & b) { return b == a; }
+inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); }
+inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); }
+
+TiXmlString operator + (const TiXmlString & a, const TiXmlString & b);
+TiXmlString operator + (const TiXmlString & a, const char* b);
+TiXmlString operator + (const char* a, const TiXmlString & b);
+
+
+/*
+ TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString.
+ Only the operators that we need for TinyXML have been developped.
+*/
+class TiXmlOutStream : public TiXmlString
+{
+public :
+
+ // TiXmlOutStream << operator.
+ TiXmlOutStream & operator << (const TiXmlString & in)
+ {
+ *this += in;
+ return *this;
+ }
+
+ // TiXmlOutStream << operator.
+ TiXmlOutStream & operator << (const char * in)
+ {
+ *this += in;
+ return *this;
+ }
+
+} ;
+
+#endif // TIXML_STRING_INCLUDED
+#endif // TIXML_USE_STL
diff --git a/include/thirdparty/tinyxml/tinyxml.h b/include/thirdparty/tinyxml/tinyxml.h
index a3589e5..d051548 100644
--- a/include/thirdparty/tinyxml/tinyxml.h
+++ b/include/thirdparty/tinyxml/tinyxml.h
@@ -1,1805 +1,1805 @@
-/*
-www.sourceforge.net/projects/tinyxml
-Original code by Lee Thomason (www.grinninglizard.com)
-
-This software is provided 'as-is', without any express or implied
-warranty. In no event will the authors be held liable for any
-damages arising from the use of this software.
-
-Permission is granted to anyone to use this software for any
-purpose, including commercial applications, and to alter it and
-redistribute it freely, subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must
-not claim that you wrote the original software. If you use this
-software in a product, an acknowledgment in the product documentation
-would be appreciated but is not required.
-
-2. Altered source versions must be plainly marked as such, and
-must not be misrepresented as being the original software.
-
-3. This notice may not be removed or altered from any source
-distribution.
-*/
-
-
-#ifndef TINYXML_INCLUDED
-#define TINYXML_INCLUDED
-
-#ifdef _MSC_VER
-#pragma warning( push )
-#pragma warning( disable : 4530 )
-#pragma warning( disable : 4786 )
-#endif
-
-#include <ctype.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-
-// Help out windows:
-#if defined( _DEBUG ) && !defined( DEBUG )
-#define DEBUG
-#endif
-
-#ifdef TIXML_USE_STL
- #include <string>
- #include <iostream>
- #include <sstream>
- #define TIXML_STRING std::string
-#else
- #include "tinystr.h"
- #define TIXML_STRING TiXmlString
-#endif
-
-// Deprecated library function hell. Compilers want to use the
-// new safe versions. This probably doesn't fully address the problem,
-// but it gets closer. There are too many compilers for me to fully
-// test. If you get compilation troubles, undefine TIXML_SAFE
-#define TIXML_SAFE
-
-#ifdef TIXML_SAFE
- #if defined(_MSC_VER) && (_MSC_VER >= 1400 )
- // Microsoft visual studio, version 2005 and higher.
- #define TIXML_SNPRINTF _snprintf_s
- #define TIXML_SSCANF sscanf_s
- #elif defined(_MSC_VER) && (_MSC_VER >= 1200 )
- // Microsoft visual studio, version 6 and higher.
- //#pragma message( "Using _sn* functions." )
- #define TIXML_SNPRINTF _snprintf
- #define TIXML_SSCANF sscanf
- #elif defined(__GNUC__) && (__GNUC__ >= 3 )
- // GCC version 3 and higher.s
- //#warning( "Using sn* functions." )
- #define TIXML_SNPRINTF snprintf
- #define TIXML_SSCANF sscanf
- #else
- #define TIXML_SNPRINTF snprintf
- #define TIXML_SSCANF sscanf
- #endif
-#endif
-
-class TiXmlDocument;
-class TiXmlElement;
-class TiXmlComment;
-class TiXmlUnknown;
-class TiXmlAttribute;
-class TiXmlText;
-class TiXmlDeclaration;
-class TiXmlParsingData;
-
-const int TIXML_MAJOR_VERSION = 2;
-const int TIXML_MINOR_VERSION = 6;
-const int TIXML_PATCH_VERSION = 2;
-
-/* Internal structure for tracking location of items
- in the XML file.
-*/
-struct TiXmlCursor
-{
- TiXmlCursor() { Clear(); }
- void Clear() { row = col = -1; }
-
- int row; // 0 based.
- int col; // 0 based.
-};
-
-
-/**
- Implements the interface to the "Visitor pattern" (see the Accept() method.)
- If you call the Accept() method, it requires being passed a TiXmlVisitor
- class to handle callbacks. For nodes that contain other nodes (Document, Element)
- you will get called with a VisitEnter/VisitExit pair. Nodes that are always leaves
- are simply called with Visit().
-
- If you return 'true' from a Visit method, recursive parsing will continue. If you return
- false, <b>no children of this node or its sibilings</b> will be Visited.
-
- All flavors of Visit methods have a default implementation that returns 'true' (continue
- visiting). You need to only override methods that are interesting to you.
-
- Generally Accept() is called on the TiXmlDocument, although all nodes suppert Visiting.
-
- You should never change the document from a callback.
-
- @sa TiXmlNode::Accept()
-*/
-class TiXmlVisitor
-{
-public:
- virtual ~TiXmlVisitor() {}
-
- /// Visit a document.
- virtual bool VisitEnter( const TiXmlDocument& /*doc*/ ) { return true; }
- /// Visit a document.
- virtual bool VisitExit( const TiXmlDocument& /*doc*/ ) { return true; }
-
- /// Visit an element.
- virtual bool VisitEnter( const TiXmlElement& /*element*/, const TiXmlAttribute* /*firstAttribute*/ ) { return true; }
- /// Visit an element.
- virtual bool VisitExit( const TiXmlElement& /*element*/ ) { return true; }
-
- /// Visit a declaration
- virtual bool Visit( const TiXmlDeclaration& /*declaration*/ ) { return true; }
- /// Visit a text node
- virtual bool Visit( const TiXmlText& /*text*/ ) { return true; }
- /// Visit a comment node
- virtual bool Visit( const TiXmlComment& /*comment*/ ) { return true; }
- /// Visit an unknown node
- virtual bool Visit( const TiXmlUnknown& /*unknown*/ ) { return true; }
-};
-
-// Only used by Attribute::Query functions
-enum
-{
- TIXML_SUCCESS,
- TIXML_NO_ATTRIBUTE,
- TIXML_WRONG_TYPE
-};
-
-
-// Used by the parsing routines.
-enum TiXmlEncoding
-{
- TIXML_ENCODING_UNKNOWN,
- TIXML_ENCODING_UTF8,
- TIXML_ENCODING_LEGACY
-};
-
-const TiXmlEncoding TIXML_DEFAULT_ENCODING = TIXML_ENCODING_UNKNOWN;
-
-/** TiXmlBase is a base class for every class in TinyXml.
- It does little except to establish that TinyXml classes
- can be printed and provide some utility functions.
-
- In XML, the document and elements can contain
- other elements and other types of nodes.
-
- @verbatim
- A Document can contain: Element (container or leaf)
- Comment (leaf)
- Unknown (leaf)
- Declaration( leaf )
-
- An Element can contain: Element (container or leaf)
- Text (leaf)
- Attributes (not on tree)
- Comment (leaf)
- Unknown (leaf)
-
- A Decleration contains: Attributes (not on tree)
- @endverbatim
-*/
-class TiXmlBase
-{
- friend class TiXmlNode;
- friend class TiXmlElement;
- friend class TiXmlDocument;
-
-public:
- TiXmlBase() : userData(0) {}
- virtual ~TiXmlBase() {}
-
- /** All TinyXml classes can print themselves to a filestream
- or the string class (TiXmlString in non-STL mode, std::string
- in STL mode.) Either or both cfile and str can be null.
-
- This is a formatted print, and will insert
- tabs and newlines.
-
- (For an unformatted stream, use the << operator.)
- */
- virtual void Print( FILE* cfile, int depth ) const = 0;
-
- /** The world does not agree on whether white space should be kept or
- not. In order to make everyone happy, these global, static functions
- are provided to set whether or not TinyXml will condense all white space
- into a single space or not. The default is to condense. Note changing this
- value is not thread safe.
- */
- static void SetCondenseWhiteSpace( bool condense ) { condenseWhiteSpace = condense; }
-
- /// Return the current white space setting.
- static bool IsWhiteSpaceCondensed() { return condenseWhiteSpace; }
-
- /** Return the position, in the original source file, of this node or attribute.
- The row and column are 1-based. (That is the first row and first column is
- 1,1). If the returns values are 0 or less, then the parser does not have
- a row and column value.
-
- Generally, the row and column value will be set when the TiXmlDocument::Load(),
- TiXmlDocument::LoadFile(), or any TiXmlNode::Parse() is called. It will NOT be set
- when the DOM was created from operator>>.
-
- The values reflect the initial load. Once the DOM is modified programmatically
- (by adding or changing nodes and attributes) the new values will NOT update to
- reflect changes in the document.
-
- There is a minor performance cost to computing the row and column. Computation
- can be disabled if TiXmlDocument::SetTabSize() is called with 0 as the value.
-
- @sa TiXmlDocument::SetTabSize()
- */
- int Row() const { return location.row + 1; }
- int Column() const { return location.col + 1; } ///< See Row()
-
- void SetUserData( void* user ) { userData = user; } ///< Set a pointer to arbitrary user data.
- void* GetUserData() { return userData; } ///< Get a pointer to arbitrary user data.
- const void* GetUserData() const { return userData; } ///< Get a pointer to arbitrary user data.
-
- // Table that returs, for a given lead byte, the total number of bytes
- // in the UTF-8 sequence.
- static const int utf8ByteTable[256];
-
- virtual const char* Parse( const char* p,
- TiXmlParsingData* data,
- TiXmlEncoding encoding /*= TIXML_ENCODING_UNKNOWN */ ) = 0;
-
- /** Expands entities in a string. Note this should not contian the tag's '<', '>', etc,
- or they will be transformed into entities!
- */
- static void EncodeString( const TIXML_STRING& str, TIXML_STRING* out );
-
- enum
- {
- TIXML_NO_ERROR = 0,
- TIXML_ERROR,
- TIXML_ERROR_OPENING_FILE,
- TIXML_ERROR_PARSING_ELEMENT,
- TIXML_ERROR_FAILED_TO_READ_ELEMENT_NAME,
- TIXML_ERROR_READING_ELEMENT_VALUE,
- TIXML_ERROR_READING_ATTRIBUTES,
- TIXML_ERROR_PARSING_EMPTY,
- TIXML_ERROR_READING_END_TAG,
- TIXML_ERROR_PARSING_UNKNOWN,
- TIXML_ERROR_PARSING_COMMENT,
- TIXML_ERROR_PARSING_DECLARATION,
- TIXML_ERROR_DOCUMENT_EMPTY,
- TIXML_ERROR_EMBEDDED_NULL,
- TIXML_ERROR_PARSING_CDATA,
- TIXML_ERROR_DOCUMENT_TOP_ONLY,
-
- TIXML_ERROR_STRING_COUNT
- };
-
-protected:
-
- static const char* SkipWhiteSpace( const char*, TiXmlEncoding encoding );
-
- inline static bool IsWhiteSpace( char c )
- {
- return ( isspace( (unsigned char) c ) || c == '\n' || c == '\r' );
- }
- inline static bool IsWhiteSpace( int c )
- {
- if ( c < 256 )
- return IsWhiteSpace( (char) c );
- return false; // Again, only truly correct for English/Latin...but usually works.
- }
-
- #ifdef TIXML_USE_STL
- static bool StreamWhiteSpace( std::istream * in, TIXML_STRING * tag );
- static bool StreamTo( std::istream * in, int character, TIXML_STRING * tag );
- #endif
-
- /* Reads an XML name into the string provided. Returns
- a pointer just past the last character of the name,
- or 0 if the function has an error.
- */
- static const char* ReadName( const char* p, TIXML_STRING* name, TiXmlEncoding encoding );
-
- /* Reads text. Returns a pointer past the given end tag.
- Wickedly complex options, but it keeps the (sensitive) code in one place.
- */
- static const char* ReadText( const char* in, // where to start
- TIXML_STRING* text, // the string read
- bool ignoreWhiteSpace, // whether to keep the white space
- const char* endTag, // what ends this text
- bool ignoreCase, // whether to ignore case in the end tag
- TiXmlEncoding encoding ); // the current encoding
-
- // If an entity has been found, transform it into a character.
- static const char* GetEntity( const char* in, char* value, int* length, TiXmlEncoding encoding );
-
- // Get a character, while interpreting entities.
- // The length can be from 0 to 4 bytes.
- inline static const char* GetChar( const char* p, char* _value, int* length, TiXmlEncoding encoding )
- {
- assert( p );
- if ( encoding == TIXML_ENCODING_UTF8 )
- {
- *length = utf8ByteTable[ *((const unsigned char*)p) ];
- assert( *length >= 0 && *length < 5 );
- }
- else
- {
- *length = 1;
- }
-
- if ( *length == 1 )
- {
- if ( *p == '&' )
- return GetEntity( p, _value, length, encoding );
- *_value = *p;
- return p+1;
- }
- else if ( *length )
- {
- //strncpy( _value, p, *length ); // lots of compilers don't like this function (unsafe),
- // and the null terminator isn't needed
- for( int i=0; p[i] && i<*length; ++i ) {
- _value[i] = p[i];
- }
- return p + (*length);
- }
- else
- {
- // Not valid text.
- return 0;
- }
- }
-
- // Return true if the next characters in the stream are any of the endTag sequences.
- // Ignore case only works for english, and should only be relied on when comparing
- // to English words: StringEqual( p, "version", true ) is fine.
- static bool StringEqual( const char* p,
- const char* endTag,
- bool ignoreCase,
- TiXmlEncoding encoding );
-
- static const char* errorString[ TIXML_ERROR_STRING_COUNT ];
-
- TiXmlCursor location;
-
- /// Field containing a generic user pointer
- void* userData;
-
- // None of these methods are reliable for any language except English.
- // Good for approximation, not great for accuracy.
- static int IsAlpha( unsigned char anyByte, TiXmlEncoding encoding );
- static int IsAlphaNum( unsigned char anyByte, TiXmlEncoding encoding );
- inline static int ToLower( int v, TiXmlEncoding encoding )
- {
- if ( encoding == TIXML_ENCODING_UTF8 )
- {
- if ( v < 128 ) return tolower( v );
- return v;
- }
- else
- {
- return tolower( v );
- }
- }
- static void ConvertUTF32ToUTF8( unsigned long input, char* output, int* length );
-
-private:
- TiXmlBase( const TiXmlBase& ); // not implemented.
- void operator=( const TiXmlBase& base ); // not allowed.
-
- struct Entity
- {
- const char* str;
- unsigned int strLength;
- char chr;
- };
- enum
- {
- NUM_ENTITY = 5,
- MAX_ENTITY_LENGTH = 6
-
- };
- static Entity entity[ NUM_ENTITY ];
- static bool condenseWhiteSpace;
-};
-
-
-/** The parent class for everything in the Document Object Model.
- (Except for attributes).
- Nodes have siblings, a parent, and children. A node can be
- in a document, or stand on its own. The type of a TiXmlNode
- can be queried, and it can be cast to its more defined type.
-*/
-class TiXmlNode : public TiXmlBase
-{
- friend class TiXmlDocument;
- friend class TiXmlElement;
-
-public:
- #ifdef TIXML_USE_STL
-
- /** An input stream operator, for every class. Tolerant of newlines and
- formatting, but doesn't expect them.
- */
- friend std::istream& operator >> (std::istream& in, TiXmlNode& base);
-
- /** An output stream operator, for every class. Note that this outputs
- without any newlines or formatting, as opposed to Print(), which
- includes tabs and new lines.
-
- The operator<< and operator>> are not completely symmetric. Writing
- a node to a stream is very well defined. You'll get a nice stream
- of output, without any extra whitespace or newlines.
-
- But reading is not as well defined. (As it always is.) If you create
- a TiXmlElement (for example) and read that from an input stream,
- the text needs to define an element or junk will result. This is
- true of all input streams, but it's worth keeping in mind.
-
- A TiXmlDocument will read nodes until it reads a root element, and
- all the children of that root element.
- */
- friend std::ostream& operator<< (std::ostream& out, const TiXmlNode& base);
-
- /// Appends the XML node or attribute to a std::string.
- friend std::string& operator<< (std::string& out, const TiXmlNode& base );
-
- #endif
-
- /** The types of XML nodes supported by TinyXml. (All the
- unsupported types are picked up by UNKNOWN.)
- */
- enum NodeType
- {
- TINYXML_DOCUMENT,
- TINYXML_ELEMENT,
- TINYXML_COMMENT,
- TINYXML_UNKNOWN,
- TINYXML_TEXT,
- TINYXML_DECLARATION,
- TINYXML_TYPECOUNT
- };
-
- virtual ~TiXmlNode();
-
- /** The meaning of 'value' changes for the specific type of
- TiXmlNode.
- @verbatim
- Document: filename of the xml file
- Element: name of the element
- Comment: the comment text
- Unknown: the tag contents
- Text: the text string
- @endverbatim
-
- The subclasses will wrap this function.
- */
- const char *Value() const { return value.c_str (); }
-
- #ifdef TIXML_USE_STL
- /** Return Value() as a std::string. If you only use STL,
- this is more efficient than calling Value().
- Only available in STL mode.
- */
- const std::string& ValueStr() const { return value; }
- #endif
-
- const TIXML_STRING& ValueTStr() const { return value; }
-
- /** Changes the value of the node. Defined as:
- @verbatim
- Document: filename of the xml file
- Element: name of the element
- Comment: the comment text
- Unknown: the tag contents
- Text: the text string
- @endverbatim
- */
- void SetValue(const char * _value) { value = _value;}
-
- #ifdef TIXML_USE_STL
- /// STL std::string form.
- void SetValue( const std::string& _value ) { value = _value; }
- #endif
-
- /// Delete all the children of this node. Does not affect 'this'.
- void Clear();
-
- /// One step up the DOM.
- TiXmlNode* Parent() { return parent; }
- const TiXmlNode* Parent() const { return parent; }
-
- const TiXmlNode* FirstChild() const { return firstChild; } ///< The first child of this node. Will be null if there are no children.
- TiXmlNode* FirstChild() { return firstChild; }
- const TiXmlNode* FirstChild( const char * value ) const; ///< The first child of this node with the matching 'value'. Will be null if none found.
- /// The first child of this node with the matching 'value'. Will be null if none found.
- TiXmlNode* FirstChild( const char * _value ) {
- // Call through to the const version - safe since nothing is changed. Exiting syntax: cast this to a const (always safe)
- // call the method, cast the return back to non-const.
- return const_cast< TiXmlNode* > ((const_cast< const TiXmlNode* >(this))->FirstChild( _value ));
- }
- const TiXmlNode* LastChild() const { return lastChild; } /// The last child of this node. Will be null if there are no children.
- TiXmlNode* LastChild() { return lastChild; }
-
- const TiXmlNode* LastChild( const char * value ) const; /// The last child of this node matching 'value'. Will be null if there are no children.
- TiXmlNode* LastChild( const char * _value ) {
- return const_cast< TiXmlNode* > ((const_cast< const TiXmlNode* >(this))->LastChild( _value ));
- }
-
- #ifdef TIXML_USE_STL
- const TiXmlNode* FirstChild( const std::string& _value ) const { return FirstChild (_value.c_str ()); } ///< STL std::string form.
- TiXmlNode* FirstChild( const std::string& _value ) { return FirstChild (_value.c_str ()); } ///< STL std::string form.
- const TiXmlNode* LastChild( const std::string& _value ) const { return LastChild (_value.c_str ()); } ///< STL std::string form.
- TiXmlNode* LastChild( const std::string& _value ) { return LastChild (_value.c_str ()); } ///< STL std::string form.
- #endif
-
- /** An alternate way to walk the children of a node.
- One way to iterate over nodes is:
- @verbatim
- for( child = parent->FirstChild(); child; child = child->NextSibling() )
- @endverbatim
-
- IterateChildren does the same thing with the syntax:
- @verbatim
- child = 0;
- while( child = parent->IterateChildren( child ) )
- @endverbatim
-
- IterateChildren takes the previous child as input and finds
- the next one. If the previous child is null, it returns the
- first. IterateChildren will return null when done.
- */
- const TiXmlNode* IterateChildren( const TiXmlNode* previous ) const;
- TiXmlNode* IterateChildren( const TiXmlNode* previous ) {
- return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->IterateChildren( previous ) );
- }
-
- /// This flavor of IterateChildren searches for children with a particular 'value'
- const TiXmlNode* IterateChildren( const char * value, const TiXmlNode* previous ) const;
- TiXmlNode* IterateChildren( const char * _value, const TiXmlNode* previous ) {
- return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->IterateChildren( _value, previous ) );
- }
-
- #ifdef TIXML_USE_STL
- const TiXmlNode* IterateChildren( const std::string& _value, const TiXmlNode* previous ) const { return IterateChildren (_value.c_str (), previous); } ///< STL std::string form.
- TiXmlNode* IterateChildren( const std::string& _value, const TiXmlNode* previous ) { return IterateChildren (_value.c_str (), previous); } ///< STL std::string form.
- #endif
-
- /** Add a new node related to this. Adds a child past the LastChild.
- Returns a pointer to the new object or NULL if an error occured.
- */
- TiXmlNode* InsertEndChild( const TiXmlNode& addThis );
-
-
- /** Add a new node related to this. Adds a child past the LastChild.
-
- NOTE: the node to be added is passed by pointer, and will be
- henceforth owned (and deleted) by tinyXml. This method is efficient
- and avoids an extra copy, but should be used with care as it
- uses a different memory model than the other insert functions.
-
- @sa InsertEndChild
- */
- TiXmlNode* LinkEndChild( TiXmlNode* addThis );
-
- /** Add a new node related to this. Adds a child before the specified child.
- Returns a pointer to the new object or NULL if an error occured.
- */
- TiXmlNode* InsertBeforeChild( TiXmlNode* beforeThis, const TiXmlNode& addThis );
-
- /** Add a new node related to this. Adds a child after the specified child.
- Returns a pointer to the new object or NULL if an error occured.
- */
- TiXmlNode* InsertAfterChild( TiXmlNode* afterThis, const TiXmlNode& addThis );
-
- /** Replace a child of this node.
- Returns a pointer to the new object or NULL if an error occured.
- */
- TiXmlNode* ReplaceChild( TiXmlNode* replaceThis, const TiXmlNode& withThis );
-
- /// Delete a child of this node.
- bool RemoveChild( TiXmlNode* removeThis );
-
- /// Navigate to a sibling node.
- const TiXmlNode* PreviousSibling() const { return prev; }
- TiXmlNode* PreviousSibling() { return prev; }
-
- /// Navigate to a sibling node.
- const TiXmlNode* PreviousSibling( const char * ) const;
- TiXmlNode* PreviousSibling( const char *_prev ) {
- return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->PreviousSibling( _prev ) );
- }
-
- #ifdef TIXML_USE_STL
- const TiXmlNode* PreviousSibling( const std::string& _value ) const { return PreviousSibling (_value.c_str ()); } ///< STL std::string form.
- TiXmlNode* PreviousSibling( const std::string& _value ) { return PreviousSibling (_value.c_str ()); } ///< STL std::string form.
- const TiXmlNode* NextSibling( const std::string& _value) const { return NextSibling (_value.c_str ()); } ///< STL std::string form.
- TiXmlNode* NextSibling( const std::string& _value) { return NextSibling (_value.c_str ()); } ///< STL std::string form.
- #endif
-
- /// Navigate to a sibling node.
- const TiXmlNode* NextSibling() const { return next; }
- TiXmlNode* NextSibling() { return next; }
-
- /// Navigate to a sibling node with the given 'value'.
- const TiXmlNode* NextSibling( const char * ) const;
- TiXmlNode* NextSibling( const char* _next ) {
- return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->NextSibling( _next ) );
- }
-
- /** Convenience function to get through elements.
- Calls NextSibling and ToElement. Will skip all non-Element
- nodes. Returns 0 if there is not another element.
- */
- const TiXmlElement* NextSiblingElement() const;
- TiXmlElement* NextSiblingElement() {
- return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->NextSiblingElement() );
- }
-
- /** Convenience function to get through elements.
- Calls NextSibling and ToElement. Will skip all non-Element
- nodes. Returns 0 if there is not another element.
- */
- const TiXmlElement* NextSiblingElement( const char * ) const;
- TiXmlElement* NextSiblingElement( const char *_next ) {
- return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->NextSiblingElement( _next ) );
- }
-
- #ifdef TIXML_USE_STL
- const TiXmlElement* NextSiblingElement( const std::string& _value) const { return NextSiblingElement (_value.c_str ()); } ///< STL std::string form.
- TiXmlElement* NextSiblingElement( const std::string& _value) { return NextSiblingElement (_value.c_str ()); } ///< STL std::string form.
- #endif
-
- /// Convenience function to get through elements.
- const TiXmlElement* FirstChildElement() const;
- TiXmlElement* FirstChildElement() {
- return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->FirstChildElement() );
- }
-
- /// Convenience function to get through elements.
- const TiXmlElement* FirstChildElement( const char * _value ) const;
- TiXmlElement* FirstChildElement( const char * _value ) {
- return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->FirstChildElement( _value ) );
- }
-
- #ifdef TIXML_USE_STL
- const TiXmlElement* FirstChildElement( const std::string& _value ) const { return FirstChildElement (_value.c_str ()); } ///< STL std::string form.
- TiXmlElement* FirstChildElement( const std::string& _value ) { return FirstChildElement (_value.c_str ()); } ///< STL std::string form.
- #endif
-
- /** Query the type (as an enumerated value, above) of this node.
- The possible types are: TINYXML_DOCUMENT, TINYXML_ELEMENT, TINYXML_COMMENT,
- TINYXML_UNKNOWN, TINYXML_TEXT, and TINYXML_DECLARATION.
- */
- int Type() const { return type; }
-
- /** Return a pointer to the Document this node lives in.
- Returns null if not in a document.
- */
- const TiXmlDocument* GetDocument() const;
- TiXmlDocument* GetDocument() {
- return const_cast< TiXmlDocument* >( (const_cast< const TiXmlNode* >(this))->GetDocument() );
- }
-
- /// Returns true if this node has no children.
- bool NoChildren() const { return !firstChild; }
-
- virtual const TiXmlDocument* ToDocument() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual const TiXmlElement* ToElement() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual const TiXmlComment* ToComment() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual const TiXmlUnknown* ToUnknown() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual const TiXmlText* ToText() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual const TiXmlDeclaration* ToDeclaration() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
-
- virtual TiXmlDocument* ToDocument() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual TiXmlElement* ToElement() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual TiXmlComment* ToComment() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual TiXmlUnknown* ToUnknown() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual TiXmlText* ToText() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
- virtual TiXmlDeclaration* ToDeclaration() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
-
- /** Create an exact duplicate of this node and return it. The memory must be deleted
- by the caller.
- */
- virtual TiXmlNode* Clone() const = 0;
-
- /** Accept a hierchical visit the nodes in the TinyXML DOM. Every node in the
- XML tree will be conditionally visited and the host will be called back
- via the TiXmlVisitor interface.
-
- This is essentially a SAX interface for TinyXML. (Note however it doesn't re-parse
- the XML for the callbacks, so the performance of TinyXML is unchanged by using this
- interface versus any other.)
-
- The interface has been based on ideas from:
-
- - http://www.saxproject.org/
- - http://c2.com/cgi/wiki?HierarchicalVisitorPattern
-
- Which are both good references for "visiting".
-
- An example of using Accept():
- @verbatim
- TiXmlPrinter printer;
- tinyxmlDoc.Accept( &printer );
- const char* xmlcstr = printer.CStr();
- @endverbatim
- */
- virtual bool Accept( TiXmlVisitor* visitor ) const = 0;
-
-protected:
- TiXmlNode( NodeType _type );
-
- // Copy to the allocated object. Shared functionality between Clone, Copy constructor,
- // and the assignment operator.
- void CopyTo( TiXmlNode* target ) const;
-
- #ifdef TIXML_USE_STL
- // The real work of the input operator.
- virtual void StreamIn( std::istream* in, TIXML_STRING* tag ) = 0;
- #endif
-
- // Figure out what is at *p, and parse it. Returns null if it is not an xml node.
- TiXmlNode* Identify( const char* start, TiXmlEncoding encoding );
-
- TiXmlNode* parent;
- NodeType type;
-
- TiXmlNode* firstChild;
- TiXmlNode* lastChild;
-
- TIXML_STRING value;
-
- TiXmlNode* prev;
- TiXmlNode* next;
-
-private:
- TiXmlNode( const TiXmlNode& ); // not implemented.
- void operator=( const TiXmlNode& base ); // not allowed.
-};
-
-
-/** An attribute is a name-value pair. Elements have an arbitrary
- number of attributes, each with a unique name.
-
- @note The attributes are not TiXmlNodes, since they are not
- part of the tinyXML document object model. There are other
- suggested ways to look at this problem.
-*/
-class TiXmlAttribute : public TiXmlBase
-{
- friend class TiXmlAttributeSet;
-
-public:
- /// Construct an empty attribute.
- TiXmlAttribute() : TiXmlBase()
- {
- document = 0;
- prev = next = 0;
- }
-
- #ifdef TIXML_USE_STL
- /// std::string constructor.
- TiXmlAttribute( const std::string& _name, const std::string& _value )
- {
- name = _name;
- value = _value;
- document = 0;
- prev = next = 0;
- }
- #endif
-
- /// Construct an attribute with a name and value.
- TiXmlAttribute( const char * _name, const char * _value )
- {
- name = _name;
- value = _value;
- document = 0;
- prev = next = 0;
- }
-
- const char* Name() const { return name.c_str(); } ///< Return the name of this attribute.
- const char* Value() const { return value.c_str(); } ///< Return the value of this attribute.
- #ifdef TIXML_USE_STL
- const std::string& ValueStr() const { return value; } ///< Return the value of this attribute.
- #endif
- int IntValue() const; ///< Return the value of this attribute, converted to an integer.
- double DoubleValue() const; ///< Return the value of this attribute, converted to a double.
-
- // Get the tinyxml string representation
- const TIXML_STRING& NameTStr() const { return name; }
-
- /** QueryIntValue examines the value string. It is an alternative to the
- IntValue() method with richer error checking.
- If the value is an integer, it is stored in 'value' and
- the call returns TIXML_SUCCESS. If it is not
- an integer, it returns TIXML_WRONG_TYPE.
-
- A specialized but useful call. Note that for success it returns 0,
- which is the opposite of almost all other TinyXml calls.
- */
- int QueryIntValue( int* _value ) const;
- /// QueryDoubleValue examines the value string. See QueryIntValue().
- int QueryDoubleValue( double* _value ) const;
-
- void SetName( const char* _name ) { name = _name; } ///< Set the name of this attribute.
- void SetValue( const char* _value ) { value = _value; } ///< Set the value.
-
- void SetIntValue( int _value ); ///< Set the value from an integer.
- void SetDoubleValue( double _value ); ///< Set the value from a double.
-
- #ifdef TIXML_USE_STL
- /// STL std::string form.
- void SetName( const std::string& _name ) { name = _name; }
- /// STL std::string form.
- void SetValue( const std::string& _value ) { value = _value; }
- #endif
-
- /// Get the next sibling attribute in the DOM. Returns null at end.
- const TiXmlAttribute* Next() const;
- TiXmlAttribute* Next() {
- return const_cast< TiXmlAttribute* >( (const_cast< const TiXmlAttribute* >(this))->Next() );
- }
-
- /// Get the previous sibling attribute in the DOM. Returns null at beginning.
- const TiXmlAttribute* Previous() const;
- TiXmlAttribute* Previous() {
- return const_cast< TiXmlAttribute* >( (const_cast< const TiXmlAttribute* >(this))->Previous() );
- }
-
- bool operator==( const TiXmlAttribute& rhs ) const { return rhs.name == name; }
- bool operator<( const TiXmlAttribute& rhs ) const { return name < rhs.name; }
- bool operator>( const TiXmlAttribute& rhs ) const { return name > rhs.name; }
-
- /* Attribute parsing starts: first letter of the name
- returns: the next char after the value end quote
- */
- virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
-
- // Prints this Attribute to a FILE stream.
- virtual void Print( FILE* cfile, int depth ) const {
- Print( cfile, depth, 0 );
- }
- void Print( FILE* cfile, int depth, TIXML_STRING* str ) const;
-
- // [internal use]
- // Set the document pointer so the attribute can report errors.
- void SetDocument( TiXmlDocument* doc ) { document = doc; }
-
-private:
- TiXmlAttribute( const TiXmlAttribute& ); // not implemented.
- void operator=( const TiXmlAttribute& base ); // not allowed.
-
- TiXmlDocument* document; // A pointer back to a document, for error reporting.
- TIXML_STRING name;
- TIXML_STRING value;
- TiXmlAttribute* prev;
- TiXmlAttribute* next;
-};
-
-
-/* A class used to manage a group of attributes.
- It is only used internally, both by the ELEMENT and the DECLARATION.
-
- The set can be changed transparent to the Element and Declaration
- classes that use it, but NOT transparent to the Attribute
- which has to implement a next() and previous() method. Which makes
- it a bit problematic and prevents the use of STL.
-
- This version is implemented with circular lists because:
- - I like circular lists
- - it demonstrates some independence from the (typical) doubly linked list.
-*/
-class TiXmlAttributeSet
-{
-public:
- TiXmlAttributeSet();
- ~TiXmlAttributeSet();
-
- void Add( TiXmlAttribute* attribute );
- void Remove( TiXmlAttribute* attribute );
-
- const TiXmlAttribute* First() const { return ( sentinel.next == &sentinel ) ? 0 : sentinel.next; }
- TiXmlAttribute* First() { return ( sentinel.next == &sentinel ) ? 0 : sentinel.next; }
- const TiXmlAttribute* Last() const { return ( sentinel.prev == &sentinel ) ? 0 : sentinel.prev; }
- TiXmlAttribute* Last() { return ( sentinel.prev == &sentinel ) ? 0 : sentinel.prev; }
-
- TiXmlAttribute* Find( const char* _name ) const;
- TiXmlAttribute* FindOrCreate( const char* _name );
-
-# ifdef TIXML_USE_STL
- TiXmlAttribute* Find( const std::string& _name ) const;
- TiXmlAttribute* FindOrCreate( const std::string& _name );
-# endif
-
-
-private:
- //*ME: Because of hidden/disabled copy-construktor in TiXmlAttribute (sentinel-element),
- //*ME: this class must be also use a hidden/disabled copy-constructor !!!
- TiXmlAttributeSet( const TiXmlAttributeSet& ); // not allowed
- void operator=( const TiXmlAttributeSet& ); // not allowed (as TiXmlAttribute)
-
- TiXmlAttribute sentinel;
-};
-
-
-/** The element is a container class. It has a value, the element name,
- and can contain other elements, text, comments, and unknowns.
- Elements also contain an arbitrary number of attributes.
-*/
-class TiXmlElement : public TiXmlNode
-{
-public:
- /// Construct an element.
- TiXmlElement (const char * in_value);
-
- #ifdef TIXML_USE_STL
- /// std::string constructor.
- TiXmlElement( const std::string& _value );
- #endif
-
- TiXmlElement( const TiXmlElement& );
-
- TiXmlElement& operator=( const TiXmlElement& base );
-
- virtual ~TiXmlElement();
-
- /** Given an attribute name, Attribute() returns the value
- for the attribute of that name, or null if none exists.
- */
- const char* Attribute( const char* name ) const;
-
- /** Given an attribute name, Attribute() returns the value
- for the attribute of that name, or null if none exists.
- If the attribute exists and can be converted to an integer,
- the integer value will be put in the return 'i', if 'i'
- is non-null.
- */
- const char* Attribute( const char* name, int* i ) const;
-
- /** Given an attribute name, Attribute() returns the value
- for the attribute of that name, or null if none exists.
- If the attribute exists and can be converted to an double,
- the double value will be put in the return 'd', if 'd'
- is non-null.
- */
- const char* Attribute( const char* name, double* d ) const;
-
- /** QueryIntAttribute examines the attribute - it is an alternative to the
- Attribute() method with richer error checking.
- If the attribute is an integer, it is stored in 'value' and
- the call returns TIXML_SUCCESS. If it is not
- an integer, it returns TIXML_WRONG_TYPE. If the attribute
- does not exist, then TIXML_NO_ATTRIBUTE is returned.
- */
- int QueryIntAttribute( const char* name, int* _value ) const;
- /// QueryUnsignedAttribute examines the attribute - see QueryIntAttribute().
- int QueryUnsignedAttribute( const char* name, unsigned* _value ) const;
- /** QueryBoolAttribute examines the attribute - see QueryIntAttribute().
- Note that '1', 'true', or 'yes' are considered true, while '0', 'false'
- and 'no' are considered false.
- */
- int QueryBoolAttribute( const char* name, bool* _value ) const;
- /// QueryDoubleAttribute examines the attribute - see QueryIntAttribute().
- int QueryDoubleAttribute( const char* name, double* _value ) const;
- /// QueryFloatAttribute examines the attribute - see QueryIntAttribute().
- int QueryFloatAttribute( const char* name, float* _value ) const {
- double d;
- int result = QueryDoubleAttribute( name, &d );
- if ( result == TIXML_SUCCESS ) {
- *_value = (float)d;
- }
- return result;
- }
-
- #ifdef TIXML_USE_STL
- /// QueryStringAttribute examines the attribute - see QueryIntAttribute().
- int QueryStringAttribute( const char* name, std::string* _value ) const {
- const char* cstr = Attribute( name );
- if ( cstr ) {
- *_value = std::string( cstr );
- return TIXML_SUCCESS;
- }
- return TIXML_NO_ATTRIBUTE;
- }
-
- /** Template form of the attribute query which will try to read the
- attribute into the specified type. Very easy, very powerful, but
- be careful to make sure to call this with the correct type.
-
- NOTE: This method doesn't work correctly for 'string' types that contain spaces.
-
- @return TIXML_SUCCESS, TIXML_WRONG_TYPE, or TIXML_NO_ATTRIBUTE
- */
- template< typename T > int QueryValueAttribute( const std::string& name, T* outValue ) const
- {
- const TiXmlAttribute* node = attributeSet.Find( name );
- if ( !node )
- return TIXML_NO_ATTRIBUTE;
-
- std::stringstream sstream( node->ValueStr() );
- sstream >> *outValue;
- if ( !sstream.fail() )
- return TIXML_SUCCESS;
- return TIXML_WRONG_TYPE;
- }
-
- int QueryValueAttribute( const std::string& name, std::string* outValue ) const
- {
- const TiXmlAttribute* node = attributeSet.Find( name );
- if ( !node )
- return TIXML_NO_ATTRIBUTE;
- *outValue = node->ValueStr();
- return TIXML_SUCCESS;
- }
- #endif
-
- /** Sets an attribute of name to a given value. The attribute
- will be created if it does not exist, or changed if it does.
- */
- void SetAttribute( const char* name, const char * _value );
-
- #ifdef TIXML_USE_STL
- const std::string* Attribute( const std::string& name ) const;
- const std::string* Attribute( const std::string& name, int* i ) const;
- const std::string* Attribute( const std::string& name, double* d ) const;
- int QueryIntAttribute( const std::string& name, int* _value ) const;
- int QueryDoubleAttribute( const std::string& name, double* _value ) const;
-
- /// STL std::string form.
- void SetAttribute( const std::string& name, const std::string& _value );
- ///< STL std::string form.
- void SetAttribute( const std::string& name, int _value );
- ///< STL std::string form.
- void SetDoubleAttribute( const std::string& name, double value );
- #endif
-
- /** Sets an attribute of name to a given value. The attribute
- will be created if it does not exist, or changed if it does.
- */
- void SetAttribute( const char * name, int value );
-
- /** Sets an attribute of name to a given value. The attribute
- will be created if it does not exist, or changed if it does.
- */
- void SetDoubleAttribute( const char * name, double value );
-
- /** Deletes an attribute with the given name.
- */
- void RemoveAttribute( const char * name );
- #ifdef TIXML_USE_STL
- void RemoveAttribute( const std::string& name ) { RemoveAttribute (name.c_str ()); } ///< STL std::string form.
- #endif
-
- const TiXmlAttribute* FirstAttribute() const { return attributeSet.First(); } ///< Access the first attribute in this element.
- TiXmlAttribute* FirstAttribute() { return attributeSet.First(); }
- const TiXmlAttribute* LastAttribute() const { return attributeSet.Last(); } ///< Access the last attribute in this element.
- TiXmlAttribute* LastAttribute() { return attributeSet.Last(); }
-
- /** Convenience function for easy access to the text inside an element. Although easy
- and concise, GetText() is limited compared to getting the TiXmlText child
- and accessing it directly.
-
- If the first child of 'this' is a TiXmlText, the GetText()
- returns the character string of the Text node, else null is returned.
-
- This is a convenient method for getting the text of simple contained text:
- @verbatim
- <foo>This is text</foo>
- const char* str = fooElement->GetText();
- @endverbatim
-
- 'str' will be a pointer to "This is text".
-
- Note that this function can be misleading. If the element foo was created from
- this XML:
- @verbatim
- <foo><b>This is text</b></foo>
- @endverbatim
-
- then the value of str would be null. The first child node isn't a text node, it is
- another element. From this XML:
- @verbatim
- <foo>This is <b>text</b></foo>
- @endverbatim
- GetText() will return "This is ".
-
- WARNING: GetText() accesses a child node - don't become confused with the
- similarly named TiXmlHandle::Text() and TiXmlNode::ToText() which are
- safe type casts on the referenced node.
- */
- const char* GetText() const;
-
- /// Creates a new Element and returns it - the returned element is a copy.
- virtual TiXmlNode* Clone() const;
- // Print the Element to a FILE stream.
- virtual void Print( FILE* cfile, int depth ) const;
-
- /* Attribtue parsing starts: next char past '<'
- returns: next char past '>'
- */
- virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
-
- virtual const TiXmlElement* ToElement() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
- virtual TiXmlElement* ToElement() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
-
- /** Walk the XML tree visiting this node and all of its children.
- */
- virtual bool Accept( TiXmlVisitor* visitor ) const;
-
-protected:
-
- void CopyTo( TiXmlElement* target ) const;
- void ClearThis(); // like clear, but initializes 'this' object as well
-
- // Used to be public [internal use]
- #ifdef TIXML_USE_STL
- virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
- #endif
- /* [internal use]
- Reads the "value" of the element -- another element, or text.
- This should terminate with the current end tag.
- */
- const char* ReadValue( const char* in, TiXmlParsingData* prevData, TiXmlEncoding encoding );
-
-private:
- TiXmlAttributeSet attributeSet;
-};
-
-
-/** An XML comment.
-*/
-class TiXmlComment : public TiXmlNode
-{
-public:
- /// Constructs an empty comment.
- TiXmlComment() : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) {}
- /// Construct a comment from text.
- TiXmlComment( const char* _value ) : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) {
- SetValue( _value );
- }
- TiXmlComment( const TiXmlComment& );
- TiXmlComment& operator=( const TiXmlComment& base );
-
- virtual ~TiXmlComment() {}
-
- /// Returns a copy of this Comment.
- virtual TiXmlNode* Clone() const;
- // Write this Comment to a FILE stream.
- virtual void Print( FILE* cfile, int depth ) const;
-
- /* Attribtue parsing starts: at the ! of the !--
- returns: next char past '>'
- */
- virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
-
- virtual const TiXmlComment* ToComment() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
- virtual TiXmlComment* ToComment() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
-
- /** Walk the XML tree visiting this node and all of its children.
- */
- virtual bool Accept( TiXmlVisitor* visitor ) const;
-
-protected:
- void CopyTo( TiXmlComment* target ) const;
-
- // used to be public
- #ifdef TIXML_USE_STL
- virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
- #endif
-// virtual void StreamOut( TIXML_OSTREAM * out ) const;
-
-private:
-
-};
-
-
-/** XML text. A text node can have 2 ways to output the next. "normal" output
- and CDATA. It will default to the mode it was parsed from the XML file and
- you generally want to leave it alone, but you can change the output mode with
- SetCDATA() and query it with CDATA().
-*/
-class TiXmlText : public TiXmlNode
-{
- friend class TiXmlElement;
-public:
- /** Constructor for text element. By default, it is treated as
- normal, encoded text. If you want it be output as a CDATA text
- element, set the parameter _cdata to 'true'
- */
- TiXmlText (const char * initValue ) : TiXmlNode (TiXmlNode::TINYXML_TEXT)
- {
- SetValue( initValue );
- cdata = false;
- }
- virtual ~TiXmlText() {}
-
- #ifdef TIXML_USE_STL
- /// Constructor.
- TiXmlText( const std::string& initValue ) : TiXmlNode (TiXmlNode::TINYXML_TEXT)
- {
- SetValue( initValue );
- cdata = false;
- }
- #endif
-
- TiXmlText( const TiXmlText& copy ) : TiXmlNode( TiXmlNode::TINYXML_TEXT ) { copy.CopyTo( this ); }
- TiXmlText& operator=( const TiXmlText& base ) { base.CopyTo( this ); return *this; }
-
- // Write this text object to a FILE stream.
- virtual void Print( FILE* cfile, int depth ) const;
-
- /// Queries whether this represents text using a CDATA section.
- bool CDATA() const { return cdata; }
- /// Turns on or off a CDATA representation of text.
- void SetCDATA( bool _cdata ) { cdata = _cdata; }
-
- virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
-
- virtual const TiXmlText* ToText() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
- virtual TiXmlText* ToText() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
-
- /** Walk the XML tree visiting this node and all of its children.
- */
- virtual bool Accept( TiXmlVisitor* content ) const;
-
-protected :
- /// [internal use] Creates a new Element and returns it.
- virtual TiXmlNode* Clone() const;
- void CopyTo( TiXmlText* target ) const;
-
- bool Blank() const; // returns true if all white space and new lines
- // [internal use]
- #ifdef TIXML_USE_STL
- virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
- #endif
-
-private:
- bool cdata; // true if this should be input and output as a CDATA style text element
-};
-
-
-/** In correct XML the declaration is the first entry in the file.
- @verbatim
- <?xml version="1.0" standalone="yes"?>
- @endverbatim
-
- TinyXml will happily read or write files without a declaration,
- however. There are 3 possible attributes to the declaration:
- version, encoding, and standalone.
-
- Note: In this version of the code, the attributes are
- handled as special cases, not generic attributes, simply
- because there can only be at most 3 and they are always the same.
-*/
-class TiXmlDeclaration : public TiXmlNode
-{
-public:
- /// Construct an empty declaration.
- TiXmlDeclaration() : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) {}
-
-#ifdef TIXML_USE_STL
- /// Constructor.
- TiXmlDeclaration( const std::string& _version,
- const std::string& _encoding,
- const std::string& _standalone );
-#endif
-
- /// Construct.
- TiXmlDeclaration( const char* _version,
- const char* _encoding,
- const char* _standalone );
-
- TiXmlDeclaration( const TiXmlDeclaration& copy );
- TiXmlDeclaration& operator=( const TiXmlDeclaration& copy );
-
- virtual ~TiXmlDeclaration() {}
-
- /// Version. Will return an empty string if none was found.
- const char *Version() const { return version.c_str (); }
- /// Encoding. Will return an empty string if none was found.
- const char *Encoding() const { return encoding.c_str (); }
- /// Is this a standalone document?
- const char *Standalone() const { return standalone.c_str (); }
-
- /// Creates a copy of this Declaration and returns it.
- virtual TiXmlNode* Clone() const;
- // Print this declaration to a FILE stream.
- virtual void Print( FILE* cfile, int depth, TIXML_STRING* str ) const;
- virtual void Print( FILE* cfile, int depth ) const {
- Print( cfile, depth, 0 );
- }
-
- virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
-
- virtual const TiXmlDeclaration* ToDeclaration() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
- virtual TiXmlDeclaration* ToDeclaration() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
-
- /** Walk the XML tree visiting this node and all of its children.
- */
- virtual bool Accept( TiXmlVisitor* visitor ) const;
-
-protected:
- void CopyTo( TiXmlDeclaration* target ) const;
- // used to be public
- #ifdef TIXML_USE_STL
- virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
- #endif
-
-private:
-
- TIXML_STRING version;
- TIXML_STRING encoding;
- TIXML_STRING standalone;
-};
-
-
-/** Any tag that tinyXml doesn't recognize is saved as an
- unknown. It is a tag of text, but should not be modified.
- It will be written back to the XML, unchanged, when the file
- is saved.
-
- DTD tags get thrown into TiXmlUnknowns.
-*/
-class TiXmlUnknown : public TiXmlNode
-{
-public:
- TiXmlUnknown() : TiXmlNode( TiXmlNode::TINYXML_UNKNOWN ) {}
- virtual ~TiXmlUnknown() {}
-
- TiXmlUnknown( const TiXmlUnknown& copy ) : TiXmlNode( TiXmlNode::TINYXML_UNKNOWN ) { copy.CopyTo( this ); }
- TiXmlUnknown& operator=( const TiXmlUnknown& copy ) { copy.CopyTo( this ); return *this; }
-
- /// Creates a copy of this Unknown and returns it.
- virtual TiXmlNode* Clone() const;
- // Print this Unknown to a FILE stream.
- virtual void Print( FILE* cfile, int depth ) const;
-
- virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
-
- virtual const TiXmlUnknown* ToUnknown() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
- virtual TiXmlUnknown* ToUnknown() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
-
- /** Walk the XML tree visiting this node and all of its children.
- */
- virtual bool Accept( TiXmlVisitor* content ) const;
-
-protected:
- void CopyTo( TiXmlUnknown* target ) const;
-
- #ifdef TIXML_USE_STL
- virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
- #endif
-
-private:
-
-};
-
-
-/** Always the top level node. A document binds together all the
- XML pieces. It can be saved, loaded, and printed to the screen.
- The 'value' of a document node is the xml file name.
-*/
-class TiXmlDocument : public TiXmlNode
-{
-public:
- /// Create an empty document, that has no name.
- TiXmlDocument();
- /// Create a document with a name. The name of the document is also the filename of the xml.
- TiXmlDocument( const char * documentName );
-
- #ifdef TIXML_USE_STL
- /// Constructor.
- TiXmlDocument( const std::string& documentName );
- #endif
-
- TiXmlDocument( const TiXmlDocument& copy );
- TiXmlDocument& operator=( const TiXmlDocument& copy );
-
- virtual ~TiXmlDocument() {}
-
- /** Load a file using the current document value.
- Returns true if successful. Will delete any existing
- document data before loading.
- */
- bool LoadFile( TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING );
- /// Save a file using the current document value. Returns true if successful.
- bool SaveFile() const;
- /// Load a file using the given filename. Returns true if successful.
- bool LoadFile( const char * filename, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING );
- /// Save a file using the given filename. Returns true if successful.
- bool SaveFile( const char * filename ) const;
- /** Load a file using the given FILE*. Returns true if successful. Note that this method
- doesn't stream - the entire object pointed at by the FILE*
- will be interpreted as an XML file. TinyXML doesn't stream in XML from the current
- file location. Streaming may be added in the future.
- */
- bool LoadFile( FILE*, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING );
- /// Save a file using the given FILE*. Returns true if successful.
- bool SaveFile( FILE* ) const;
-
- #ifdef TIXML_USE_STL
- bool LoadFile( const std::string& filename, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ) ///< STL std::string version.
- {
- return LoadFile( filename.c_str(), encoding );
- }
- bool SaveFile( const std::string& filename ) const ///< STL std::string version.
- {
- return SaveFile( filename.c_str() );
- }
- #endif
-
- /** Parse the given null terminated block of xml data. Passing in an encoding to this
- method (either TIXML_ENCODING_LEGACY or TIXML_ENCODING_UTF8 will force TinyXml
- to use that encoding, regardless of what TinyXml might otherwise try to detect.
- */
- virtual const char* Parse( const char* p, TiXmlParsingData* data = 0, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING );
-
- /** Get the root element -- the only top level element -- of the document.
- In well formed XML, there should only be one. TinyXml is tolerant of
- multiple elements at the document level.
- */
- const TiXmlElement* RootElement() const { return FirstChildElement(); }
- TiXmlElement* RootElement() { return FirstChildElement(); }
-
- /** If an error occurs, Error will be set to true. Also,
- - The ErrorId() will contain the integer identifier of the error (not generally useful)
- - The ErrorDesc() method will return the name of the error. (very useful)
- - The ErrorRow() and ErrorCol() will return the location of the error (if known)
- */
- bool Error() const { return error; }
-
- /// Contains a textual (english) description of the error if one occurs.
- const char * ErrorDesc() const { return errorDesc.c_str (); }
-
- /** Generally, you probably want the error string ( ErrorDesc() ). But if you
- prefer the ErrorId, this function will fetch it.
- */
- int ErrorId() const { return errorId; }
-
- /** Returns the location (if known) of the error. The first column is column 1,
- and the first row is row 1. A value of 0 means the row and column wasn't applicable
- (memory errors, for example, have no row/column) or the parser lost the error. (An
- error in the error reporting, in that case.)
-
- @sa SetTabSize, Row, Column
- */
- int ErrorRow() const { return errorLocation.row+1; }
- int ErrorCol() const { return errorLocation.col+1; } ///< The column where the error occured. See ErrorRow()
-
- /** SetTabSize() allows the error reporting functions (ErrorRow() and ErrorCol())
- to report the correct values for row and column. It does not change the output
- or input in any way.
-
- By calling this method, with a tab size
- greater than 0, the row and column of each node and attribute is stored
- when the file is loaded. Very useful for tracking the DOM back in to
- the source file.
-
- The tab size is required for calculating the location of nodes. If not
- set, the default of 4 is used. The tabsize is set per document. Setting
- the tabsize to 0 disables row/column tracking.
-
- Note that row and column tracking is not supported when using operator>>.
-
- The tab size needs to be enabled before the parse or load. Correct usage:
- @verbatim
- TiXmlDocument doc;
- doc.SetTabSize( 8 );
- doc.Load( "myfile.xml" );
- @endverbatim
-
- @sa Row, Column
- */
- void SetTabSize( int _tabsize ) { tabsize = _tabsize; }
-
- int TabSize() const { return tabsize; }
-
- /** If you have handled the error, it can be reset with this call. The error
- state is automatically cleared if you Parse a new XML block.
- */
- void ClearError() { error = false;
- errorId = 0;
- errorDesc = "";
- errorLocation.row = errorLocation.col = 0;
- //errorLocation.last = 0;
- }
-
- /** Write the document to standard out using formatted printing ("pretty print"). */
- void Print() const { Print( stdout, 0 ); }
-
- /* Write the document to a string using formatted printing ("pretty print"). This
- will allocate a character array (new char[]) and return it as a pointer. The
- calling code pust call delete[] on the return char* to avoid a memory leak.
- */
- //char* PrintToMemory() const;
-
- /// Print this Document to a FILE stream.
- virtual void Print( FILE* cfile, int depth = 0 ) const;
- // [internal use]
- void SetError( int err, const char* errorLocation, TiXmlParsingData* prevData, TiXmlEncoding encoding );
-
- virtual const TiXmlDocument* ToDocument() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
- virtual TiXmlDocument* ToDocument() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
-
- /** Walk the XML tree visiting this node and all of its children.
- */
- virtual bool Accept( TiXmlVisitor* content ) const;
-
-protected :
- // [internal use]
- virtual TiXmlNode* Clone() const;
- #ifdef TIXML_USE_STL
- virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
- #endif
-
-private:
- void CopyTo( TiXmlDocument* target ) const;
-
- bool error;
- int errorId;
- TIXML_STRING errorDesc;
- int tabsize;
- TiXmlCursor errorLocation;
- bool useMicrosoftBOM; // the UTF-8 BOM were found when read. Note this, and try to write.
-};
-
-
-/**
- A TiXmlHandle is a class that wraps a node pointer with null checks; this is
- an incredibly useful thing. Note that TiXmlHandle is not part of the TinyXml
- DOM structure. It is a separate utility class.
-
- Take an example:
- @verbatim
- <Document>
- <Element attributeA = "valueA">
- <Child attributeB = "value1" />
- <Child attributeB = "value2" />
- </Element>
- <Document>
- @endverbatim
-
- Assuming you want the value of "attributeB" in the 2nd "Child" element, it's very
- easy to write a *lot* of code that looks like:
-
- @verbatim
- TiXmlElement* root = document.FirstChildElement( "Document" );
- if ( root )
- {
- TiXmlElement* element = root->FirstChildElement( "Element" );
- if ( element )
- {
- TiXmlElement* child = element->FirstChildElement( "Child" );
- if ( child )
- {
- TiXmlElement* child2 = child->NextSiblingElement( "Child" );
- if ( child2 )
- {
- // Finally do something useful.
- @endverbatim
-
- And that doesn't even cover "else" cases. TiXmlHandle addresses the verbosity
- of such code. A TiXmlHandle checks for null pointers so it is perfectly safe
- and correct to use:
-
- @verbatim
- TiXmlHandle docHandle( &document );
- TiXmlElement* child2 = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", 1 ).ToElement();
- if ( child2 )
- {
- // do something useful
- @endverbatim
-
- Which is MUCH more concise and useful.
-
- It is also safe to copy handles - internally they are nothing more than node pointers.
- @verbatim
- TiXmlHandle handleCopy = handle;
- @endverbatim
-
- What they should not be used for is iteration:
-
- @verbatim
- int i=0;
- while ( true )
- {
- TiXmlElement* child = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", i ).ToElement();
- if ( !child )
- break;
- // do something
- ++i;
- }
- @endverbatim
-
- It seems reasonable, but it is in fact two embedded while loops. The Child method is
- a linear walk to find the element, so this code would iterate much more than it needs
- to. Instead, prefer:
-
- @verbatim
- TiXmlElement* child = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).FirstChild( "Child" ).ToElement();
-
- for( child; child; child=child->NextSiblingElement() )
- {
- // do something
- }
- @endverbatim
-*/
-class TiXmlHandle
-{
-public:
- /// Create a handle from any node (at any depth of the tree.) This can be a null pointer.
- TiXmlHandle( TiXmlNode* _node ) { this->node = _node; }
- /// Copy constructor
- TiXmlHandle( const TiXmlHandle& ref ) { this->node = ref.node; }
- TiXmlHandle operator=( const TiXmlHandle& ref ) { if ( &ref != this ) this->node = ref.node; return *this; }
-
- /// Return a handle to the first child node.
- TiXmlHandle FirstChild() const;
- /// Return a handle to the first child node with the given name.
- TiXmlHandle FirstChild( const char * value ) const;
- /// Return a handle to the first child element.
- TiXmlHandle FirstChildElement() const;
- /// Return a handle to the first child element with the given name.
- TiXmlHandle FirstChildElement( const char * value ) const;
-
- /** Return a handle to the "index" child with the given name.
- The first child is 0, the second 1, etc.
- */
- TiXmlHandle Child( const char* value, int index ) const;
- /** Return a handle to the "index" child.
- The first child is 0, the second 1, etc.
- */
- TiXmlHandle Child( int index ) const;
- /** Return a handle to the "index" child element with the given name.
- The first child element is 0, the second 1, etc. Note that only TiXmlElements
- are indexed: other types are not counted.
- */
- TiXmlHandle ChildElement( const char* value, int index ) const;
- /** Return a handle to the "index" child element.
- The first child element is 0, the second 1, etc. Note that only TiXmlElements
- are indexed: other types are not counted.
- */
- TiXmlHandle ChildElement( int index ) const;
-
- #ifdef TIXML_USE_STL
- TiXmlHandle FirstChild( const std::string& _value ) const { return FirstChild( _value.c_str() ); }
- TiXmlHandle FirstChildElement( const std::string& _value ) const { return FirstChildElement( _value.c_str() ); }
-
- TiXmlHandle Child( const std::string& _value, int index ) const { return Child( _value.c_str(), index ); }
- TiXmlHandle ChildElement( const std::string& _value, int index ) const { return ChildElement( _value.c_str(), index ); }
- #endif
-
- /** Return the handle as a TiXmlNode. This may return null.
- */
- TiXmlNode* ToNode() const { return node; }
- /** Return the handle as a TiXmlElement. This may return null.
- */
- TiXmlElement* ToElement() const { return ( ( node && node->ToElement() ) ? node->ToElement() : 0 ); }
- /** Return the handle as a TiXmlText. This may return null.
- */
- TiXmlText* ToText() const { return ( ( node && node->ToText() ) ? node->ToText() : 0 ); }
- /** Return the handle as a TiXmlUnknown. This may return null.
- */
- TiXmlUnknown* ToUnknown() const { return ( ( node && node->ToUnknown() ) ? node->ToUnknown() : 0 ); }
-
- /** @deprecated use ToNode.
- Return the handle as a TiXmlNode. This may return null.
- */
- TiXmlNode* Node() const { return ToNode(); }
- /** @deprecated use ToElement.
- Return the handle as a TiXmlElement. This may return null.
- */
- TiXmlElement* Element() const { return ToElement(); }
- /** @deprecated use ToText()
- Return the handle as a TiXmlText. This may return null.
- */
- TiXmlText* Text() const { return ToText(); }
- /** @deprecated use ToUnknown()
- Return the handle as a TiXmlUnknown. This may return null.
- */
- TiXmlUnknown* Unknown() const { return ToUnknown(); }
-
-private:
- TiXmlNode* node;
-};
-
-
-/** Print to memory functionality. The TiXmlPrinter is useful when you need to:
-
- -# Print to memory (especially in non-STL mode)
- -# Control formatting (line endings, etc.)
-
- When constructed, the TiXmlPrinter is in its default "pretty printing" mode.
- Before calling Accept() you can call methods to control the printing
- of the XML document. After TiXmlNode::Accept() is called, the printed document can
- be accessed via the CStr(), Str(), and Size() methods.
-
- TiXmlPrinter uses the Visitor API.
- @verbatim
- TiXmlPrinter printer;
- printer.SetIndent( "\t" );
-
- doc.Accept( &printer );
- fprintf( stdout, "%s", printer.CStr() );
- @endverbatim
-*/
-class TiXmlPrinter : public TiXmlVisitor
-{
-public:
- TiXmlPrinter() : depth( 0 ), simpleTextPrint( false ),
- buffer(), indent( " " ), lineBreak( "\n" ) {}
-
- virtual bool VisitEnter( const TiXmlDocument& doc );
- virtual bool VisitExit( const TiXmlDocument& doc );
-
- virtual bool VisitEnter( const TiXmlElement& element, const TiXmlAttribute* firstAttribute );
- virtual bool VisitExit( const TiXmlElement& element );
-
- virtual bool Visit( const TiXmlDeclaration& declaration );
- virtual bool Visit( const TiXmlText& text );
- virtual bool Visit( const TiXmlComment& comment );
- virtual bool Visit( const TiXmlUnknown& unknown );
-
- /** Set the indent characters for printing. By default 4 spaces
- but tab (\t) is also useful, or null/empty string for no indentation.
- */
- void SetIndent( const char* _indent ) { indent = _indent ? _indent : "" ; }
- /// Query the indention string.
- const char* Indent() { return indent.c_str(); }
- /** Set the line breaking string. By default set to newline (\n).
- Some operating systems prefer other characters, or can be
- set to the null/empty string for no indenation.
- */
- void SetLineBreak( const char* _lineBreak ) { lineBreak = _lineBreak ? _lineBreak : ""; }
- /// Query the current line breaking string.
- const char* LineBreak() { return lineBreak.c_str(); }
-
- /** Switch over to "stream printing" which is the most dense formatting without
- linebreaks. Common when the XML is needed for network transmission.
- */
- void SetStreamPrinting() { indent = "";
- lineBreak = "";
- }
- /// Return the result.
- const char* CStr() { return buffer.c_str(); }
- /// Return the length of the result string.
- size_t Size() { return buffer.size(); }
-
- #ifdef TIXML_USE_STL
- /// Return the result.
- const std::string& Str() { return buffer; }
- #endif
-
-private:
- void DoIndent() {
- for( int i=0; i<depth; ++i )
- buffer += indent;
- }
- void DoLineBreak() {
- buffer += lineBreak;
- }
-
- int depth;
- bool simpleTextPrint;
- TIXML_STRING buffer;
- TIXML_STRING indent;
- TIXML_STRING lineBreak;
-};
-
-
-#ifdef _MSC_VER
-#pragma warning( pop )
-#endif
-
-#endif
+/*
+www.sourceforge.net/projects/tinyxml
+Original code by Lee Thomason (www.grinninglizard.com)
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+*/
+
+
+#ifndef TINYXML_INCLUDED
+#define TINYXML_INCLUDED
+
+#ifdef _MSC_VER
+#pragma warning( push )
+#pragma warning( disable : 4530 )
+#pragma warning( disable : 4786 )
+#endif
+
+#include <ctype.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+// Help out windows:
+#if defined( _DEBUG ) && !defined( DEBUG )
+#define DEBUG
+#endif
+
+#ifdef TIXML_USE_STL
+ #include <string>
+ #include <iostream>
+ #include <sstream>
+ #define TIXML_STRING std::string
+#else
+ #include "tinystr.h"
+ #define TIXML_STRING TiXmlString
+#endif
+
+// Deprecated library function hell. Compilers want to use the
+// new safe versions. This probably doesn't fully address the problem,
+// but it gets closer. There are too many compilers for me to fully
+// test. If you get compilation troubles, undefine TIXML_SAFE
+#define TIXML_SAFE
+
+#ifdef TIXML_SAFE
+ #if defined(_MSC_VER) && (_MSC_VER >= 1400 )
+ // Microsoft visual studio, version 2005 and higher.
+ #define TIXML_SNPRINTF _snprintf_s
+ #define TIXML_SSCANF sscanf_s
+ #elif defined(_MSC_VER) && (_MSC_VER >= 1200 )
+ // Microsoft visual studio, version 6 and higher.
+ //#pragma message( "Using _sn* functions." )
+ #define TIXML_SNPRINTF _snprintf
+ #define TIXML_SSCANF sscanf
+ #elif defined(__GNUC__) && (__GNUC__ >= 3 )
+ // GCC version 3 and higher.s
+ //#warning( "Using sn* functions." )
+ #define TIXML_SNPRINTF snprintf
+ #define TIXML_SSCANF sscanf
+ #else
+ #define TIXML_SNPRINTF snprintf
+ #define TIXML_SSCANF sscanf
+ #endif
+#endif
+
+class TiXmlDocument;
+class TiXmlElement;
+class TiXmlComment;
+class TiXmlUnknown;
+class TiXmlAttribute;
+class TiXmlText;
+class TiXmlDeclaration;
+class TiXmlParsingData;
+
+const int TIXML_MAJOR_VERSION = 2;
+const int TIXML_MINOR_VERSION = 6;
+const int TIXML_PATCH_VERSION = 2;
+
+/* Internal structure for tracking location of items
+ in the XML file.
+*/
+struct TiXmlCursor
+{
+ TiXmlCursor() { Clear(); }
+ void Clear() { row = col = -1; }
+
+ int row; // 0 based.
+ int col; // 0 based.
+};
+
+
+/**
+ Implements the interface to the "Visitor pattern" (see the Accept() method.)
+ If you call the Accept() method, it requires being passed a TiXmlVisitor
+ class to handle callbacks. For nodes that contain other nodes (Document, Element)
+ you will get called with a VisitEnter/VisitExit pair. Nodes that are always leaves
+ are simply called with Visit().
+
+ If you return 'true' from a Visit method, recursive parsing will continue. If you return
+ false, <b>no children of this node or its sibilings</b> will be Visited.
+
+ All flavors of Visit methods have a default implementation that returns 'true' (continue
+ visiting). You need to only override methods that are interesting to you.
+
+ Generally Accept() is called on the TiXmlDocument, although all nodes suppert Visiting.
+
+ You should never change the document from a callback.
+
+ @sa TiXmlNode::Accept()
+*/
+class TiXmlVisitor
+{
+public:
+ virtual ~TiXmlVisitor() {}
+
+ /// Visit a document.
+ virtual bool VisitEnter( const TiXmlDocument& /*doc*/ ) { return true; }
+ /// Visit a document.
+ virtual bool VisitExit( const TiXmlDocument& /*doc*/ ) { return true; }
+
+ /// Visit an element.
+ virtual bool VisitEnter( const TiXmlElement& /*element*/, const TiXmlAttribute* /*firstAttribute*/ ) { return true; }
+ /// Visit an element.
+ virtual bool VisitExit( const TiXmlElement& /*element*/ ) { return true; }
+
+ /// Visit a declaration
+ virtual bool Visit( const TiXmlDeclaration& /*declaration*/ ) { return true; }
+ /// Visit a text node
+ virtual bool Visit( const TiXmlText& /*text*/ ) { return true; }
+ /// Visit a comment node
+ virtual bool Visit( const TiXmlComment& /*comment*/ ) { return true; }
+ /// Visit an unknown node
+ virtual bool Visit( const TiXmlUnknown& /*unknown*/ ) { return true; }
+};
+
+// Only used by Attribute::Query functions
+enum
+{
+ TIXML_SUCCESS,
+ TIXML_NO_ATTRIBUTE,
+ TIXML_WRONG_TYPE
+};
+
+
+// Used by the parsing routines.
+enum TiXmlEncoding
+{
+ TIXML_ENCODING_UNKNOWN,
+ TIXML_ENCODING_UTF8,
+ TIXML_ENCODING_LEGACY
+};
+
+const TiXmlEncoding TIXML_DEFAULT_ENCODING = TIXML_ENCODING_UNKNOWN;
+
+/** TiXmlBase is a base class for every class in TinyXml.
+ It does little except to establish that TinyXml classes
+ can be printed and provide some utility functions.
+
+ In XML, the document and elements can contain
+ other elements and other types of nodes.
+
+ @verbatim
+ A Document can contain: Element (container or leaf)
+ Comment (leaf)
+ Unknown (leaf)
+ Declaration( leaf )
+
+ An Element can contain: Element (container or leaf)
+ Text (leaf)
+ Attributes (not on tree)
+ Comment (leaf)
+ Unknown (leaf)
+
+ A Decleration contains: Attributes (not on tree)
+ @endverbatim
+*/
+class TiXmlBase
+{
+ friend class TiXmlNode;
+ friend class TiXmlElement;
+ friend class TiXmlDocument;
+
+public:
+ TiXmlBase() : userData(0) {}
+ virtual ~TiXmlBase() {}
+
+ /** All TinyXml classes can print themselves to a filestream
+ or the string class (TiXmlString in non-STL mode, std::string
+ in STL mode.) Either or both cfile and str can be null.
+
+ This is a formatted print, and will insert
+ tabs and newlines.
+
+ (For an unformatted stream, use the << operator.)
+ */
+ virtual void Print( FILE* cfile, int depth ) const = 0;
+
+ /** The world does not agree on whether white space should be kept or
+ not. In order to make everyone happy, these global, static functions
+ are provided to set whether or not TinyXml will condense all white space
+ into a single space or not. The default is to condense. Note changing this
+ value is not thread safe.
+ */
+ static void SetCondenseWhiteSpace( bool condense ) { condenseWhiteSpace = condense; }
+
+ /// Return the current white space setting.
+ static bool IsWhiteSpaceCondensed() { return condenseWhiteSpace; }
+
+ /** Return the position, in the original source file, of this node or attribute.
+ The row and column are 1-based. (That is the first row and first column is
+ 1,1). If the returns values are 0 or less, then the parser does not have
+ a row and column value.
+
+ Generally, the row and column value will be set when the TiXmlDocument::Load(),
+ TiXmlDocument::LoadFile(), or any TiXmlNode::Parse() is called. It will NOT be set
+ when the DOM was created from operator>>.
+
+ The values reflect the initial load. Once the DOM is modified programmatically
+ (by adding or changing nodes and attributes) the new values will NOT update to
+ reflect changes in the document.
+
+ There is a minor performance cost to computing the row and column. Computation
+ can be disabled if TiXmlDocument::SetTabSize() is called with 0 as the value.
+
+ @sa TiXmlDocument::SetTabSize()
+ */
+ int Row() const { return location.row + 1; }
+ int Column() const { return location.col + 1; } ///< See Row()
+
+ void SetUserData( void* user ) { userData = user; } ///< Set a pointer to arbitrary user data.
+ void* GetUserData() { return userData; } ///< Get a pointer to arbitrary user data.
+ const void* GetUserData() const { return userData; } ///< Get a pointer to arbitrary user data.
+
+ // Table that returs, for a given lead byte, the total number of bytes
+ // in the UTF-8 sequence.
+ static const int utf8ByteTable[256];
+
+ virtual const char* Parse( const char* p,
+ TiXmlParsingData* data,
+ TiXmlEncoding encoding /*= TIXML_ENCODING_UNKNOWN */ ) = 0;
+
+ /** Expands entities in a string. Note this should not contian the tag's '<', '>', etc,
+ or they will be transformed into entities!
+ */
+ static void EncodeString( const TIXML_STRING& str, TIXML_STRING* out );
+
+ enum
+ {
+ TIXML_NO_ERROR = 0,
+ TIXML_ERROR,
+ TIXML_ERROR_OPENING_FILE,
+ TIXML_ERROR_PARSING_ELEMENT,
+ TIXML_ERROR_FAILED_TO_READ_ELEMENT_NAME,
+ TIXML_ERROR_READING_ELEMENT_VALUE,
+ TIXML_ERROR_READING_ATTRIBUTES,
+ TIXML_ERROR_PARSING_EMPTY,
+ TIXML_ERROR_READING_END_TAG,
+ TIXML_ERROR_PARSING_UNKNOWN,
+ TIXML_ERROR_PARSING_COMMENT,
+ TIXML_ERROR_PARSING_DECLARATION,
+ TIXML_ERROR_DOCUMENT_EMPTY,
+ TIXML_ERROR_EMBEDDED_NULL,
+ TIXML_ERROR_PARSING_CDATA,
+ TIXML_ERROR_DOCUMENT_TOP_ONLY,
+
+ TIXML_ERROR_STRING_COUNT
+ };
+
+protected:
+
+ static const char* SkipWhiteSpace( const char*, TiXmlEncoding encoding );
+
+ inline static bool IsWhiteSpace( char c )
+ {
+ return ( isspace( (unsigned char) c ) || c == '\n' || c == '\r' );
+ }
+ inline static bool IsWhiteSpace( int c )
+ {
+ if ( c < 256 )
+ return IsWhiteSpace( (char) c );
+ return false; // Again, only truly correct for English/Latin...but usually works.
+ }
+
+ #ifdef TIXML_USE_STL
+ static bool StreamWhiteSpace( std::istream * in, TIXML_STRING * tag );
+ static bool StreamTo( std::istream * in, int character, TIXML_STRING * tag );
+ #endif
+
+ /* Reads an XML name into the string provided. Returns
+ a pointer just past the last character of the name,
+ or 0 if the function has an error.
+ */
+ static const char* ReadName( const char* p, TIXML_STRING* name, TiXmlEncoding encoding );
+
+ /* Reads text. Returns a pointer past the given end tag.
+ Wickedly complex options, but it keeps the (sensitive) code in one place.
+ */
+ static const char* ReadText( const char* in, // where to start
+ TIXML_STRING* text, // the string read
+ bool ignoreWhiteSpace, // whether to keep the white space
+ const char* endTag, // what ends this text
+ bool ignoreCase, // whether to ignore case in the end tag
+ TiXmlEncoding encoding ); // the current encoding
+
+ // If an entity has been found, transform it into a character.
+ static const char* GetEntity( const char* in, char* value, int* length, TiXmlEncoding encoding );
+
+ // Get a character, while interpreting entities.
+ // The length can be from 0 to 4 bytes.
+ inline static const char* GetChar( const char* p, char* _value, int* length, TiXmlEncoding encoding )
+ {
+ assert( p );
+ if ( encoding == TIXML_ENCODING_UTF8 )
+ {
+ *length = utf8ByteTable[ *((const unsigned char*)p) ];
+ assert( *length >= 0 && *length < 5 );
+ }
+ else
+ {
+ *length = 1;
+ }
+
+ if ( *length == 1 )
+ {
+ if ( *p == '&' )
+ return GetEntity( p, _value, length, encoding );
+ *_value = *p;
+ return p+1;
+ }
+ else if ( *length )
+ {
+ //strncpy( _value, p, *length ); // lots of compilers don't like this function (unsafe),
+ // and the null terminator isn't needed
+ for( int i=0; p[i] && i<*length; ++i ) {
+ _value[i] = p[i];
+ }
+ return p + (*length);
+ }
+ else
+ {
+ // Not valid text.
+ return 0;
+ }
+ }
+
+ // Return true if the next characters in the stream are any of the endTag sequences.
+ // Ignore case only works for english, and should only be relied on when comparing
+ // to English words: StringEqual( p, "version", true ) is fine.
+ static bool StringEqual( const char* p,
+ const char* endTag,
+ bool ignoreCase,
+ TiXmlEncoding encoding );
+
+ static const char* errorString[ TIXML_ERROR_STRING_COUNT ];
+
+ TiXmlCursor location;
+
+ /// Field containing a generic user pointer
+ void* userData;
+
+ // None of these methods are reliable for any language except English.
+ // Good for approximation, not great for accuracy.
+ static int IsAlpha( unsigned char anyByte, TiXmlEncoding encoding );
+ static int IsAlphaNum( unsigned char anyByte, TiXmlEncoding encoding );
+ inline static int ToLower( int v, TiXmlEncoding encoding )
+ {
+ if ( encoding == TIXML_ENCODING_UTF8 )
+ {
+ if ( v < 128 ) return tolower( v );
+ return v;
+ }
+ else
+ {
+ return tolower( v );
+ }
+ }
+ static void ConvertUTF32ToUTF8( unsigned long input, char* output, int* length );
+
+private:
+ TiXmlBase( const TiXmlBase& ); // not implemented.
+ void operator=( const TiXmlBase& base ); // not allowed.
+
+ struct Entity
+ {
+ const char* str;
+ unsigned int strLength;
+ char chr;
+ };
+ enum
+ {
+ NUM_ENTITY = 5,
+ MAX_ENTITY_LENGTH = 6
+
+ };
+ static Entity entity[ NUM_ENTITY ];
+ static bool condenseWhiteSpace;
+};
+
+
+/** The parent class for everything in the Document Object Model.
+ (Except for attributes).
+ Nodes have siblings, a parent, and children. A node can be
+ in a document, or stand on its own. The type of a TiXmlNode
+ can be queried, and it can be cast to its more defined type.
+*/
+class TiXmlNode : public TiXmlBase
+{
+ friend class TiXmlDocument;
+ friend class TiXmlElement;
+
+public:
+ #ifdef TIXML_USE_STL
+
+ /** An input stream operator, for every class. Tolerant of newlines and
+ formatting, but doesn't expect them.
+ */
+ friend std::istream& operator >> (std::istream& in, TiXmlNode& base);
+
+ /** An output stream operator, for every class. Note that this outputs
+ without any newlines or formatting, as opposed to Print(), which
+ includes tabs and new lines.
+
+ The operator<< and operator>> are not completely symmetric. Writing
+ a node to a stream is very well defined. You'll get a nice stream
+ of output, without any extra whitespace or newlines.
+
+ But reading is not as well defined. (As it always is.) If you create
+ a TiXmlElement (for example) and read that from an input stream,
+ the text needs to define an element or junk will result. This is
+ true of all input streams, but it's worth keeping in mind.
+
+ A TiXmlDocument will read nodes until it reads a root element, and
+ all the children of that root element.
+ */
+ friend std::ostream& operator<< (std::ostream& out, const TiXmlNode& base);
+
+ /// Appends the XML node or attribute to a std::string.
+ friend std::string& operator<< (std::string& out, const TiXmlNode& base );
+
+ #endif
+
+ /** The types of XML nodes supported by TinyXml. (All the
+ unsupported types are picked up by UNKNOWN.)
+ */
+ enum NodeType
+ {
+ TINYXML_DOCUMENT,
+ TINYXML_ELEMENT,
+ TINYXML_COMMENT,
+ TINYXML_UNKNOWN,
+ TINYXML_TEXT,
+ TINYXML_DECLARATION,
+ TINYXML_TYPECOUNT
+ };
+
+ virtual ~TiXmlNode();
+
+ /** The meaning of 'value' changes for the specific type of
+ TiXmlNode.
+ @verbatim
+ Document: filename of the xml file
+ Element: name of the element
+ Comment: the comment text
+ Unknown: the tag contents
+ Text: the text string
+ @endverbatim
+
+ The subclasses will wrap this function.
+ */
+ const char *Value() const { return value.c_str (); }
+
+ #ifdef TIXML_USE_STL
+ /** Return Value() as a std::string. If you only use STL,
+ this is more efficient than calling Value().
+ Only available in STL mode.
+ */
+ const std::string& ValueStr() const { return value; }
+ #endif
+
+ const TIXML_STRING& ValueTStr() const { return value; }
+
+ /** Changes the value of the node. Defined as:
+ @verbatim
+ Document: filename of the xml file
+ Element: name of the element
+ Comment: the comment text
+ Unknown: the tag contents
+ Text: the text string
+ @endverbatim
+ */
+ void SetValue(const char * _value) { value = _value;}
+
+ #ifdef TIXML_USE_STL
+ /// STL std::string form.
+ void SetValue( const std::string& _value ) { value = _value; }
+ #endif
+
+ /// Delete all the children of this node. Does not affect 'this'.
+ void Clear();
+
+ /// One step up the DOM.
+ TiXmlNode* Parent() { return parent; }
+ const TiXmlNode* Parent() const { return parent; }
+
+ const TiXmlNode* FirstChild() const { return firstChild; } ///< The first child of this node. Will be null if there are no children.
+ TiXmlNode* FirstChild() { return firstChild; }
+ const TiXmlNode* FirstChild( const char * value ) const; ///< The first child of this node with the matching 'value'. Will be null if none found.
+ /// The first child of this node with the matching 'value'. Will be null if none found.
+ TiXmlNode* FirstChild( const char * _value ) {
+ // Call through to the const version - safe since nothing is changed. Exiting syntax: cast this to a const (always safe)
+ // call the method, cast the return back to non-const.
+ return const_cast< TiXmlNode* > ((const_cast< const TiXmlNode* >(this))->FirstChild( _value ));
+ }
+ const TiXmlNode* LastChild() const { return lastChild; } /// The last child of this node. Will be null if there are no children.
+ TiXmlNode* LastChild() { return lastChild; }
+
+ const TiXmlNode* LastChild( const char * value ) const; /// The last child of this node matching 'value'. Will be null if there are no children.
+ TiXmlNode* LastChild( const char * _value ) {
+ return const_cast< TiXmlNode* > ((const_cast< const TiXmlNode* >(this))->LastChild( _value ));
+ }
+
+ #ifdef TIXML_USE_STL
+ const TiXmlNode* FirstChild( const std::string& _value ) const { return FirstChild (_value.c_str ()); } ///< STL std::string form.
+ TiXmlNode* FirstChild( const std::string& _value ) { return FirstChild (_value.c_str ()); } ///< STL std::string form.
+ const TiXmlNode* LastChild( const std::string& _value ) const { return LastChild (_value.c_str ()); } ///< STL std::string form.
+ TiXmlNode* LastChild( const std::string& _value ) { return LastChild (_value.c_str ()); } ///< STL std::string form.
+ #endif
+
+ /** An alternate way to walk the children of a node.
+ One way to iterate over nodes is:
+ @verbatim
+ for( child = parent->FirstChild(); child; child = child->NextSibling() )
+ @endverbatim
+
+ IterateChildren does the same thing with the syntax:
+ @verbatim
+ child = 0;
+ while( child = parent->IterateChildren( child ) )
+ @endverbatim
+
+ IterateChildren takes the previous child as input and finds
+ the next one. If the previous child is null, it returns the
+ first. IterateChildren will return null when done.
+ */
+ const TiXmlNode* IterateChildren( const TiXmlNode* previous ) const;
+ TiXmlNode* IterateChildren( const TiXmlNode* previous ) {
+ return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->IterateChildren( previous ) );
+ }
+
+ /// This flavor of IterateChildren searches for children with a particular 'value'
+ const TiXmlNode* IterateChildren( const char * value, const TiXmlNode* previous ) const;
+ TiXmlNode* IterateChildren( const char * _value, const TiXmlNode* previous ) {
+ return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->IterateChildren( _value, previous ) );
+ }
+
+ #ifdef TIXML_USE_STL
+ const TiXmlNode* IterateChildren( const std::string& _value, const TiXmlNode* previous ) const { return IterateChildren (_value.c_str (), previous); } ///< STL std::string form.
+ TiXmlNode* IterateChildren( const std::string& _value, const TiXmlNode* previous ) { return IterateChildren (_value.c_str (), previous); } ///< STL std::string form.
+ #endif
+
+ /** Add a new node related to this. Adds a child past the LastChild.
+ Returns a pointer to the new object or NULL if an error occured.
+ */
+ TiXmlNode* InsertEndChild( const TiXmlNode& addThis );
+
+
+ /** Add a new node related to this. Adds a child past the LastChild.
+
+ NOTE: the node to be added is passed by pointer, and will be
+ henceforth owned (and deleted) by tinyXml. This method is efficient
+ and avoids an extra copy, but should be used with care as it
+ uses a different memory model than the other insert functions.
+
+ @sa InsertEndChild
+ */
+ TiXmlNode* LinkEndChild( TiXmlNode* addThis );
+
+ /** Add a new node related to this. Adds a child before the specified child.
+ Returns a pointer to the new object or NULL if an error occured.
+ */
+ TiXmlNode* InsertBeforeChild( TiXmlNode* beforeThis, const TiXmlNode& addThis );
+
+ /** Add a new node related to this. Adds a child after the specified child.
+ Returns a pointer to the new object or NULL if an error occured.
+ */
+ TiXmlNode* InsertAfterChild( TiXmlNode* afterThis, const TiXmlNode& addThis );
+
+ /** Replace a child of this node.
+ Returns a pointer to the new object or NULL if an error occured.
+ */
+ TiXmlNode* ReplaceChild( TiXmlNode* replaceThis, const TiXmlNode& withThis );
+
+ /// Delete a child of this node.
+ bool RemoveChild( TiXmlNode* removeThis );
+
+ /// Navigate to a sibling node.
+ const TiXmlNode* PreviousSibling() const { return prev; }
+ TiXmlNode* PreviousSibling() { return prev; }
+
+ /// Navigate to a sibling node.
+ const TiXmlNode* PreviousSibling( const char * ) const;
+ TiXmlNode* PreviousSibling( const char *_prev ) {
+ return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->PreviousSibling( _prev ) );
+ }
+
+ #ifdef TIXML_USE_STL
+ const TiXmlNode* PreviousSibling( const std::string& _value ) const { return PreviousSibling (_value.c_str ()); } ///< STL std::string form.
+ TiXmlNode* PreviousSibling( const std::string& _value ) { return PreviousSibling (_value.c_str ()); } ///< STL std::string form.
+ const TiXmlNode* NextSibling( const std::string& _value) const { return NextSibling (_value.c_str ()); } ///< STL std::string form.
+ TiXmlNode* NextSibling( const std::string& _value) { return NextSibling (_value.c_str ()); } ///< STL std::string form.
+ #endif
+
+ /// Navigate to a sibling node.
+ const TiXmlNode* NextSibling() const { return next; }
+ TiXmlNode* NextSibling() { return next; }
+
+ /// Navigate to a sibling node with the given 'value'.
+ const TiXmlNode* NextSibling( const char * ) const;
+ TiXmlNode* NextSibling( const char* _next ) {
+ return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->NextSibling( _next ) );
+ }
+
+ /** Convenience function to get through elements.
+ Calls NextSibling and ToElement. Will skip all non-Element
+ nodes. Returns 0 if there is not another element.
+ */
+ const TiXmlElement* NextSiblingElement() const;
+ TiXmlElement* NextSiblingElement() {
+ return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->NextSiblingElement() );
+ }
+
+ /** Convenience function to get through elements.
+ Calls NextSibling and ToElement. Will skip all non-Element
+ nodes. Returns 0 if there is not another element.
+ */
+ const TiXmlElement* NextSiblingElement( const char * ) const;
+ TiXmlElement* NextSiblingElement( const char *_next ) {
+ return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->NextSiblingElement( _next ) );
+ }
+
+ #ifdef TIXML_USE_STL
+ const TiXmlElement* NextSiblingElement( const std::string& _value) const { return NextSiblingElement (_value.c_str ()); } ///< STL std::string form.
+ TiXmlElement* NextSiblingElement( const std::string& _value) { return NextSiblingElement (_value.c_str ()); } ///< STL std::string form.
+ #endif
+
+ /// Convenience function to get through elements.
+ const TiXmlElement* FirstChildElement() const;
+ TiXmlElement* FirstChildElement() {
+ return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->FirstChildElement() );
+ }
+
+ /// Convenience function to get through elements.
+ const TiXmlElement* FirstChildElement( const char * _value ) const;
+ TiXmlElement* FirstChildElement( const char * _value ) {
+ return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->FirstChildElement( _value ) );
+ }
+
+ #ifdef TIXML_USE_STL
+ const TiXmlElement* FirstChildElement( const std::string& _value ) const { return FirstChildElement (_value.c_str ()); } ///< STL std::string form.
+ TiXmlElement* FirstChildElement( const std::string& _value ) { return FirstChildElement (_value.c_str ()); } ///< STL std::string form.
+ #endif
+
+ /** Query the type (as an enumerated value, above) of this node.
+ The possible types are: TINYXML_DOCUMENT, TINYXML_ELEMENT, TINYXML_COMMENT,
+ TINYXML_UNKNOWN, TINYXML_TEXT, and TINYXML_DECLARATION.
+ */
+ int Type() const { return type; }
+
+ /** Return a pointer to the Document this node lives in.
+ Returns null if not in a document.
+ */
+ const TiXmlDocument* GetDocument() const;
+ TiXmlDocument* GetDocument() {
+ return const_cast< TiXmlDocument* >( (const_cast< const TiXmlNode* >(this))->GetDocument() );
+ }
+
+ /// Returns true if this node has no children.
+ bool NoChildren() const { return !firstChild; }
+
+ virtual const TiXmlDocument* ToDocument() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual const TiXmlElement* ToElement() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual const TiXmlComment* ToComment() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual const TiXmlUnknown* ToUnknown() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual const TiXmlText* ToText() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual const TiXmlDeclaration* ToDeclaration() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+
+ virtual TiXmlDocument* ToDocument() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual TiXmlElement* ToElement() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual TiXmlComment* ToComment() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual TiXmlUnknown* ToUnknown() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual TiXmlText* ToText() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+ virtual TiXmlDeclaration* ToDeclaration() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type.
+
+ /** Create an exact duplicate of this node and return it. The memory must be deleted
+ by the caller.
+ */
+ virtual TiXmlNode* Clone() const = 0;
+
+ /** Accept a hierchical visit the nodes in the TinyXML DOM. Every node in the
+ XML tree will be conditionally visited and the host will be called back
+ via the TiXmlVisitor interface.
+
+ This is essentially a SAX interface for TinyXML. (Note however it doesn't re-parse
+ the XML for the callbacks, so the performance of TinyXML is unchanged by using this
+ interface versus any other.)
+
+ The interface has been based on ideas from:
+
+ - http://www.saxproject.org/
+ - http://c2.com/cgi/wiki?HierarchicalVisitorPattern
+
+ Which are both good references for "visiting".
+
+ An example of using Accept():
+ @verbatim
+ TiXmlPrinter printer;
+ tinyxmlDoc.Accept( &printer );
+ const char* xmlcstr = printer.CStr();
+ @endverbatim
+ */
+ virtual bool Accept( TiXmlVisitor* visitor ) const = 0;
+
+protected:
+ TiXmlNode( NodeType _type );
+
+ // Copy to the allocated object. Shared functionality between Clone, Copy constructor,
+ // and the assignment operator.
+ void CopyTo( TiXmlNode* target ) const;
+
+ #ifdef TIXML_USE_STL
+ // The real work of the input operator.
+ virtual void StreamIn( std::istream* in, TIXML_STRING* tag ) = 0;
+ #endif
+
+ // Figure out what is at *p, and parse it. Returns null if it is not an xml node.
+ TiXmlNode* Identify( const char* start, TiXmlEncoding encoding );
+
+ TiXmlNode* parent;
+ NodeType type;
+
+ TiXmlNode* firstChild;
+ TiXmlNode* lastChild;
+
+ TIXML_STRING value;
+
+ TiXmlNode* prev;
+ TiXmlNode* next;
+
+private:
+ TiXmlNode( const TiXmlNode& ); // not implemented.
+ void operator=( const TiXmlNode& base ); // not allowed.
+};
+
+
+/** An attribute is a name-value pair. Elements have an arbitrary
+ number of attributes, each with a unique name.
+
+ @note The attributes are not TiXmlNodes, since they are not
+ part of the tinyXML document object model. There are other
+ suggested ways to look at this problem.
+*/
+class TiXmlAttribute : public TiXmlBase
+{
+ friend class TiXmlAttributeSet;
+
+public:
+ /// Construct an empty attribute.
+ TiXmlAttribute() : TiXmlBase()
+ {
+ document = 0;
+ prev = next = 0;
+ }
+
+ #ifdef TIXML_USE_STL
+ /// std::string constructor.
+ TiXmlAttribute( const std::string& _name, const std::string& _value )
+ {
+ name = _name;
+ value = _value;
+ document = 0;
+ prev = next = 0;
+ }
+ #endif
+
+ /// Construct an attribute with a name and value.
+ TiXmlAttribute( const char * _name, const char * _value )
+ {
+ name = _name;
+ value = _value;
+ document = 0;
+ prev = next = 0;
+ }
+
+ const char* Name() const { return name.c_str(); } ///< Return the name of this attribute.
+ const char* Value() const { return value.c_str(); } ///< Return the value of this attribute.
+ #ifdef TIXML_USE_STL
+ const std::string& ValueStr() const { return value; } ///< Return the value of this attribute.
+ #endif
+ int IntValue() const; ///< Return the value of this attribute, converted to an integer.
+ double DoubleValue() const; ///< Return the value of this attribute, converted to a double.
+
+ // Get the tinyxml string representation
+ const TIXML_STRING& NameTStr() const { return name; }
+
+ /** QueryIntValue examines the value string. It is an alternative to the
+ IntValue() method with richer error checking.
+ If the value is an integer, it is stored in 'value' and
+ the call returns TIXML_SUCCESS. If it is not
+ an integer, it returns TIXML_WRONG_TYPE.
+
+ A specialized but useful call. Note that for success it returns 0,
+ which is the opposite of almost all other TinyXml calls.
+ */
+ int QueryIntValue( int* _value ) const;
+ /// QueryDoubleValue examines the value string. See QueryIntValue().
+ int QueryDoubleValue( double* _value ) const;
+
+ void SetName( const char* _name ) { name = _name; } ///< Set the name of this attribute.
+ void SetValue( const char* _value ) { value = _value; } ///< Set the value.
+
+ void SetIntValue( int _value ); ///< Set the value from an integer.
+ void SetDoubleValue( double _value ); ///< Set the value from a double.
+
+ #ifdef TIXML_USE_STL
+ /// STL std::string form.
+ void SetName( const std::string& _name ) { name = _name; }
+ /// STL std::string form.
+ void SetValue( const std::string& _value ) { value = _value; }
+ #endif
+
+ /// Get the next sibling attribute in the DOM. Returns null at end.
+ const TiXmlAttribute* Next() const;
+ TiXmlAttribute* Next() {
+ return const_cast< TiXmlAttribute* >( (const_cast< const TiXmlAttribute* >(this))->Next() );
+ }
+
+ /// Get the previous sibling attribute in the DOM. Returns null at beginning.
+ const TiXmlAttribute* Previous() const;
+ TiXmlAttribute* Previous() {
+ return const_cast< TiXmlAttribute* >( (const_cast< const TiXmlAttribute* >(this))->Previous() );
+ }
+
+ bool operator==( const TiXmlAttribute& rhs ) const { return rhs.name == name; }
+ bool operator<( const TiXmlAttribute& rhs ) const { return name < rhs.name; }
+ bool operator>( const TiXmlAttribute& rhs ) const { return name > rhs.name; }
+
+ /* Attribute parsing starts: first letter of the name
+ returns: the next char after the value end quote
+ */
+ virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
+
+ // Prints this Attribute to a FILE stream.
+ virtual void Print( FILE* cfile, int depth ) const {
+ Print( cfile, depth, 0 );
+ }
+ void Print( FILE* cfile, int depth, TIXML_STRING* str ) const;
+
+ // [internal use]
+ // Set the document pointer so the attribute can report errors.
+ void SetDocument( TiXmlDocument* doc ) { document = doc; }
+
+private:
+ TiXmlAttribute( const TiXmlAttribute& ); // not implemented.
+ void operator=( const TiXmlAttribute& base ); // not allowed.
+
+ TiXmlDocument* document; // A pointer back to a document, for error reporting.
+ TIXML_STRING name;
+ TIXML_STRING value;
+ TiXmlAttribute* prev;
+ TiXmlAttribute* next;
+};
+
+
+/* A class used to manage a group of attributes.
+ It is only used internally, both by the ELEMENT and the DECLARATION.
+
+ The set can be changed transparent to the Element and Declaration
+ classes that use it, but NOT transparent to the Attribute
+ which has to implement a next() and previous() method. Which makes
+ it a bit problematic and prevents the use of STL.
+
+ This version is implemented with circular lists because:
+ - I like circular lists
+ - it demonstrates some independence from the (typical) doubly linked list.
+*/
+class TiXmlAttributeSet
+{
+public:
+ TiXmlAttributeSet();
+ ~TiXmlAttributeSet();
+
+ void Add( TiXmlAttribute* attribute );
+ void Remove( TiXmlAttribute* attribute );
+
+ const TiXmlAttribute* First() const { return ( sentinel.next == &sentinel ) ? 0 : sentinel.next; }
+ TiXmlAttribute* First() { return ( sentinel.next == &sentinel ) ? 0 : sentinel.next; }
+ const TiXmlAttribute* Last() const { return ( sentinel.prev == &sentinel ) ? 0 : sentinel.prev; }
+ TiXmlAttribute* Last() { return ( sentinel.prev == &sentinel ) ? 0 : sentinel.prev; }
+
+ TiXmlAttribute* Find( const char* _name ) const;
+ TiXmlAttribute* FindOrCreate( const char* _name );
+
+# ifdef TIXML_USE_STL
+ TiXmlAttribute* Find( const std::string& _name ) const;
+ TiXmlAttribute* FindOrCreate( const std::string& _name );
+# endif
+
+
+private:
+ //*ME: Because of hidden/disabled copy-construktor in TiXmlAttribute (sentinel-element),
+ //*ME: this class must be also use a hidden/disabled copy-constructor !!!
+ TiXmlAttributeSet( const TiXmlAttributeSet& ); // not allowed
+ void operator=( const TiXmlAttributeSet& ); // not allowed (as TiXmlAttribute)
+
+ TiXmlAttribute sentinel;
+};
+
+
+/** The element is a container class. It has a value, the element name,
+ and can contain other elements, text, comments, and unknowns.
+ Elements also contain an arbitrary number of attributes.
+*/
+class TiXmlElement : public TiXmlNode
+{
+public:
+ /// Construct an element.
+ TiXmlElement (const char * in_value);
+
+ #ifdef TIXML_USE_STL
+ /// std::string constructor.
+ TiXmlElement( const std::string& _value );
+ #endif
+
+ TiXmlElement( const TiXmlElement& );
+
+ TiXmlElement& operator=( const TiXmlElement& base );
+
+ virtual ~TiXmlElement();
+
+ /** Given an attribute name, Attribute() returns the value
+ for the attribute of that name, or null if none exists.
+ */
+ const char* Attribute( const char* name ) const;
+
+ /** Given an attribute name, Attribute() returns the value
+ for the attribute of that name, or null if none exists.
+ If the attribute exists and can be converted to an integer,
+ the integer value will be put in the return 'i', if 'i'
+ is non-null.
+ */
+ const char* Attribute( const char* name, int* i ) const;
+
+ /** Given an attribute name, Attribute() returns the value
+ for the attribute of that name, or null if none exists.
+ If the attribute exists and can be converted to an double,
+ the double value will be put in the return 'd', if 'd'
+ is non-null.
+ */
+ const char* Attribute( const char* name, double* d ) const;
+
+ /** QueryIntAttribute examines the attribute - it is an alternative to the
+ Attribute() method with richer error checking.
+ If the attribute is an integer, it is stored in 'value' and
+ the call returns TIXML_SUCCESS. If it is not
+ an integer, it returns TIXML_WRONG_TYPE. If the attribute
+ does not exist, then TIXML_NO_ATTRIBUTE is returned.
+ */
+ int QueryIntAttribute( const char* name, int* _value ) const;
+ /// QueryUnsignedAttribute examines the attribute - see QueryIntAttribute().
+ int QueryUnsignedAttribute( const char* name, unsigned* _value ) const;
+ /** QueryBoolAttribute examines the attribute - see QueryIntAttribute().
+ Note that '1', 'true', or 'yes' are considered true, while '0', 'false'
+ and 'no' are considered false.
+ */
+ int QueryBoolAttribute( const char* name, bool* _value ) const;
+ /// QueryDoubleAttribute examines the attribute - see QueryIntAttribute().
+ int QueryDoubleAttribute( const char* name, double* _value ) const;
+ /// QueryFloatAttribute examines the attribute - see QueryIntAttribute().
+ int QueryFloatAttribute( const char* name, float* _value ) const {
+ double d;
+ int result = QueryDoubleAttribute( name, &d );
+ if ( result == TIXML_SUCCESS ) {
+ *_value = (float)d;
+ }
+ return result;
+ }
+
+ #ifdef TIXML_USE_STL
+ /// QueryStringAttribute examines the attribute - see QueryIntAttribute().
+ int QueryStringAttribute( const char* name, std::string* _value ) const {
+ const char* cstr = Attribute( name );
+ if ( cstr ) {
+ *_value = std::string( cstr );
+ return TIXML_SUCCESS;
+ }
+ return TIXML_NO_ATTRIBUTE;
+ }
+
+ /** Template form of the attribute query which will try to read the
+ attribute into the specified type. Very easy, very powerful, but
+ be careful to make sure to call this with the correct type.
+
+ NOTE: This method doesn't work correctly for 'string' types that contain spaces.
+
+ @return TIXML_SUCCESS, TIXML_WRONG_TYPE, or TIXML_NO_ATTRIBUTE
+ */
+ template< typename T > int QueryValueAttribute( const std::string& name, T* outValue ) const
+ {
+ const TiXmlAttribute* node = attributeSet.Find( name );
+ if ( !node )
+ return TIXML_NO_ATTRIBUTE;
+
+ std::stringstream sstream( node->ValueStr() );
+ sstream >> *outValue;
+ if ( !sstream.fail() )
+ return TIXML_SUCCESS;
+ return TIXML_WRONG_TYPE;
+ }
+
+ int QueryValueAttribute( const std::string& name, std::string* outValue ) const
+ {
+ const TiXmlAttribute* node = attributeSet.Find( name );
+ if ( !node )
+ return TIXML_NO_ATTRIBUTE;
+ *outValue = node->ValueStr();
+ return TIXML_SUCCESS;
+ }
+ #endif
+
+ /** Sets an attribute of name to a given value. The attribute
+ will be created if it does not exist, or changed if it does.
+ */
+ void SetAttribute( const char* name, const char * _value );
+
+ #ifdef TIXML_USE_STL
+ const std::string* Attribute( const std::string& name ) const;
+ const std::string* Attribute( const std::string& name, int* i ) const;
+ const std::string* Attribute( const std::string& name, double* d ) const;
+ int QueryIntAttribute( const std::string& name, int* _value ) const;
+ int QueryDoubleAttribute( const std::string& name, double* _value ) const;
+
+ /// STL std::string form.
+ void SetAttribute( const std::string& name, const std::string& _value );
+ ///< STL std::string form.
+ void SetAttribute( const std::string& name, int _value );
+ ///< STL std::string form.
+ void SetDoubleAttribute( const std::string& name, double value );
+ #endif
+
+ /** Sets an attribute of name to a given value. The attribute
+ will be created if it does not exist, or changed if it does.
+ */
+ void SetAttribute( const char * name, int value );
+
+ /** Sets an attribute of name to a given value. The attribute
+ will be created if it does not exist, or changed if it does.
+ */
+ void SetDoubleAttribute( const char * name, double value );
+
+ /** Deletes an attribute with the given name.
+ */
+ void RemoveAttribute( const char * name );
+ #ifdef TIXML_USE_STL
+ void RemoveAttribute( const std::string& name ) { RemoveAttribute (name.c_str ()); } ///< STL std::string form.
+ #endif
+
+ const TiXmlAttribute* FirstAttribute() const { return attributeSet.First(); } ///< Access the first attribute in this element.
+ TiXmlAttribute* FirstAttribute() { return attributeSet.First(); }
+ const TiXmlAttribute* LastAttribute() const { return attributeSet.Last(); } ///< Access the last attribute in this element.
+ TiXmlAttribute* LastAttribute() { return attributeSet.Last(); }
+
+ /** Convenience function for easy access to the text inside an element. Although easy
+ and concise, GetText() is limited compared to getting the TiXmlText child
+ and accessing it directly.
+
+ If the first child of 'this' is a TiXmlText, the GetText()
+ returns the character string of the Text node, else null is returned.
+
+ This is a convenient method for getting the text of simple contained text:
+ @verbatim
+ <foo>This is text</foo>
+ const char* str = fooElement->GetText();
+ @endverbatim
+
+ 'str' will be a pointer to "This is text".
+
+ Note that this function can be misleading. If the element foo was created from
+ this XML:
+ @verbatim
+ <foo><b>This is text</b></foo>
+ @endverbatim
+
+ then the value of str would be null. The first child node isn't a text node, it is
+ another element. From this XML:
+ @verbatim
+ <foo>This is <b>text</b></foo>
+ @endverbatim
+ GetText() will return "This is ".
+
+ WARNING: GetText() accesses a child node - don't become confused with the
+ similarly named TiXmlHandle::Text() and TiXmlNode::ToText() which are
+ safe type casts on the referenced node.
+ */
+ const char* GetText() const;
+
+ /// Creates a new Element and returns it - the returned element is a copy.
+ virtual TiXmlNode* Clone() const;
+ // Print the Element to a FILE stream.
+ virtual void Print( FILE* cfile, int depth ) const;
+
+ /* Attribtue parsing starts: next char past '<'
+ returns: next char past '>'
+ */
+ virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
+
+ virtual const TiXmlElement* ToElement() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+ virtual TiXmlElement* ToElement() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+
+ /** Walk the XML tree visiting this node and all of its children.
+ */
+ virtual bool Accept( TiXmlVisitor* visitor ) const;
+
+protected:
+
+ void CopyTo( TiXmlElement* target ) const;
+ void ClearThis(); // like clear, but initializes 'this' object as well
+
+ // Used to be public [internal use]
+ #ifdef TIXML_USE_STL
+ virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
+ #endif
+ /* [internal use]
+ Reads the "value" of the element -- another element, or text.
+ This should terminate with the current end tag.
+ */
+ const char* ReadValue( const char* in, TiXmlParsingData* prevData, TiXmlEncoding encoding );
+
+private:
+ TiXmlAttributeSet attributeSet;
+};
+
+
+/** An XML comment.
+*/
+class TiXmlComment : public TiXmlNode
+{
+public:
+ /// Constructs an empty comment.
+ TiXmlComment() : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) {}
+ /// Construct a comment from text.
+ TiXmlComment( const char* _value ) : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) {
+ SetValue( _value );
+ }
+ TiXmlComment( const TiXmlComment& );
+ TiXmlComment& operator=( const TiXmlComment& base );
+
+ virtual ~TiXmlComment() {}
+
+ /// Returns a copy of this Comment.
+ virtual TiXmlNode* Clone() const;
+ // Write this Comment to a FILE stream.
+ virtual void Print( FILE* cfile, int depth ) const;
+
+ /* Attribtue parsing starts: at the ! of the !--
+ returns: next char past '>'
+ */
+ virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
+
+ virtual const TiXmlComment* ToComment() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+ virtual TiXmlComment* ToComment() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+
+ /** Walk the XML tree visiting this node and all of its children.
+ */
+ virtual bool Accept( TiXmlVisitor* visitor ) const;
+
+protected:
+ void CopyTo( TiXmlComment* target ) const;
+
+ // used to be public
+ #ifdef TIXML_USE_STL
+ virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
+ #endif
+// virtual void StreamOut( TIXML_OSTREAM * out ) const;
+
+private:
+
+};
+
+
+/** XML text. A text node can have 2 ways to output the next. "normal" output
+ and CDATA. It will default to the mode it was parsed from the XML file and
+ you generally want to leave it alone, but you can change the output mode with
+ SetCDATA() and query it with CDATA().
+*/
+class TiXmlText : public TiXmlNode
+{
+ friend class TiXmlElement;
+public:
+ /** Constructor for text element. By default, it is treated as
+ normal, encoded text. If you want it be output as a CDATA text
+ element, set the parameter _cdata to 'true'
+ */
+ TiXmlText (const char * initValue ) : TiXmlNode (TiXmlNode::TINYXML_TEXT)
+ {
+ SetValue( initValue );
+ cdata = false;
+ }
+ virtual ~TiXmlText() {}
+
+ #ifdef TIXML_USE_STL
+ /// Constructor.
+ TiXmlText( const std::string& initValue ) : TiXmlNode (TiXmlNode::TINYXML_TEXT)
+ {
+ SetValue( initValue );
+ cdata = false;
+ }
+ #endif
+
+ TiXmlText( const TiXmlText& copy ) : TiXmlNode( TiXmlNode::TINYXML_TEXT ) { copy.CopyTo( this ); }
+ TiXmlText& operator=( const TiXmlText& base ) { base.CopyTo( this ); return *this; }
+
+ // Write this text object to a FILE stream.
+ virtual void Print( FILE* cfile, int depth ) const;
+
+ /// Queries whether this represents text using a CDATA section.
+ bool CDATA() const { return cdata; }
+ /// Turns on or off a CDATA representation of text.
+ void SetCDATA( bool _cdata ) { cdata = _cdata; }
+
+ virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
+
+ virtual const TiXmlText* ToText() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+ virtual TiXmlText* ToText() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+
+ /** Walk the XML tree visiting this node and all of its children.
+ */
+ virtual bool Accept( TiXmlVisitor* content ) const;
+
+protected :
+ /// [internal use] Creates a new Element and returns it.
+ virtual TiXmlNode* Clone() const;
+ void CopyTo( TiXmlText* target ) const;
+
+ bool Blank() const; // returns true if all white space and new lines
+ // [internal use]
+ #ifdef TIXML_USE_STL
+ virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
+ #endif
+
+private:
+ bool cdata; // true if this should be input and output as a CDATA style text element
+};
+
+
+/** In correct XML the declaration is the first entry in the file.
+ @verbatim
+ <?xml version="1.0" standalone="yes"?>
+ @endverbatim
+
+ TinyXml will happily read or write files without a declaration,
+ however. There are 3 possible attributes to the declaration:
+ version, encoding, and standalone.
+
+ Note: In this version of the code, the attributes are
+ handled as special cases, not generic attributes, simply
+ because there can only be at most 3 and they are always the same.
+*/
+class TiXmlDeclaration : public TiXmlNode
+{
+public:
+ /// Construct an empty declaration.
+ TiXmlDeclaration() : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) {}
+
+#ifdef TIXML_USE_STL
+ /// Constructor.
+ TiXmlDeclaration( const std::string& _version,
+ const std::string& _encoding,
+ const std::string& _standalone );
+#endif
+
+ /// Construct.
+ TiXmlDeclaration( const char* _version,
+ const char* _encoding,
+ const char* _standalone );
+
+ TiXmlDeclaration( const TiXmlDeclaration& copy );
+ TiXmlDeclaration& operator=( const TiXmlDeclaration& copy );
+
+ virtual ~TiXmlDeclaration() {}
+
+ /// Version. Will return an empty string if none was found.
+ const char *Version() const { return version.c_str (); }
+ /// Encoding. Will return an empty string if none was found.
+ const char *Encoding() const { return encoding.c_str (); }
+ /// Is this a standalone document?
+ const char *Standalone() const { return standalone.c_str (); }
+
+ /// Creates a copy of this Declaration and returns it.
+ virtual TiXmlNode* Clone() const;
+ // Print this declaration to a FILE stream.
+ virtual void Print( FILE* cfile, int depth, TIXML_STRING* str ) const;
+ virtual void Print( FILE* cfile, int depth ) const {
+ Print( cfile, depth, 0 );
+ }
+
+ virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
+
+ virtual const TiXmlDeclaration* ToDeclaration() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+ virtual TiXmlDeclaration* ToDeclaration() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+
+ /** Walk the XML tree visiting this node and all of its children.
+ */
+ virtual bool Accept( TiXmlVisitor* visitor ) const;
+
+protected:
+ void CopyTo( TiXmlDeclaration* target ) const;
+ // used to be public
+ #ifdef TIXML_USE_STL
+ virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
+ #endif
+
+private:
+
+ TIXML_STRING version;
+ TIXML_STRING encoding;
+ TIXML_STRING standalone;
+};
+
+
+/** Any tag that tinyXml doesn't recognize is saved as an
+ unknown. It is a tag of text, but should not be modified.
+ It will be written back to the XML, unchanged, when the file
+ is saved.
+
+ DTD tags get thrown into TiXmlUnknowns.
+*/
+class TiXmlUnknown : public TiXmlNode
+{
+public:
+ TiXmlUnknown() : TiXmlNode( TiXmlNode::TINYXML_UNKNOWN ) {}
+ virtual ~TiXmlUnknown() {}
+
+ TiXmlUnknown( const TiXmlUnknown& copy ) : TiXmlNode( TiXmlNode::TINYXML_UNKNOWN ) { copy.CopyTo( this ); }
+ TiXmlUnknown& operator=( const TiXmlUnknown& copy ) { copy.CopyTo( this ); return *this; }
+
+ /// Creates a copy of this Unknown and returns it.
+ virtual TiXmlNode* Clone() const;
+ // Print this Unknown to a FILE stream.
+ virtual void Print( FILE* cfile, int depth ) const;
+
+ virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding );
+
+ virtual const TiXmlUnknown* ToUnknown() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+ virtual TiXmlUnknown* ToUnknown() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+
+ /** Walk the XML tree visiting this node and all of its children.
+ */
+ virtual bool Accept( TiXmlVisitor* content ) const;
+
+protected:
+ void CopyTo( TiXmlUnknown* target ) const;
+
+ #ifdef TIXML_USE_STL
+ virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
+ #endif
+
+private:
+
+};
+
+
+/** Always the top level node. A document binds together all the
+ XML pieces. It can be saved, loaded, and printed to the screen.
+ The 'value' of a document node is the xml file name.
+*/
+class TiXmlDocument : public TiXmlNode
+{
+public:
+ /// Create an empty document, that has no name.
+ TiXmlDocument();
+ /// Create a document with a name. The name of the document is also the filename of the xml.
+ TiXmlDocument( const char * documentName );
+
+ #ifdef TIXML_USE_STL
+ /// Constructor.
+ TiXmlDocument( const std::string& documentName );
+ #endif
+
+ TiXmlDocument( const TiXmlDocument& copy );
+ TiXmlDocument& operator=( const TiXmlDocument& copy );
+
+ virtual ~TiXmlDocument() {}
+
+ /** Load a file using the current document value.
+ Returns true if successful. Will delete any existing
+ document data before loading.
+ */
+ bool LoadFile( TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING );
+ /// Save a file using the current document value. Returns true if successful.
+ bool SaveFile() const;
+ /// Load a file using the given filename. Returns true if successful.
+ bool LoadFile( const char * filename, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING );
+ /// Save a file using the given filename. Returns true if successful.
+ bool SaveFile( const char * filename ) const;
+ /** Load a file using the given FILE*. Returns true if successful. Note that this method
+ doesn't stream - the entire object pointed at by the FILE*
+ will be interpreted as an XML file. TinyXML doesn't stream in XML from the current
+ file location. Streaming may be added in the future.
+ */
+ bool LoadFile( FILE*, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING );
+ /// Save a file using the given FILE*. Returns true if successful.
+ bool SaveFile( FILE* ) const;
+
+ #ifdef TIXML_USE_STL
+ bool LoadFile( const std::string& filename, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ) ///< STL std::string version.
+ {
+ return LoadFile( filename.c_str(), encoding );
+ }
+ bool SaveFile( const std::string& filename ) const ///< STL std::string version.
+ {
+ return SaveFile( filename.c_str() );
+ }
+ #endif
+
+ /** Parse the given null terminated block of xml data. Passing in an encoding to this
+ method (either TIXML_ENCODING_LEGACY or TIXML_ENCODING_UTF8 will force TinyXml
+ to use that encoding, regardless of what TinyXml might otherwise try to detect.
+ */
+ virtual const char* Parse( const char* p, TiXmlParsingData* data = 0, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING );
+
+ /** Get the root element -- the only top level element -- of the document.
+ In well formed XML, there should only be one. TinyXml is tolerant of
+ multiple elements at the document level.
+ */
+ const TiXmlElement* RootElement() const { return FirstChildElement(); }
+ TiXmlElement* RootElement() { return FirstChildElement(); }
+
+ /** If an error occurs, Error will be set to true. Also,
+ - The ErrorId() will contain the integer identifier of the error (not generally useful)
+ - The ErrorDesc() method will return the name of the error. (very useful)
+ - The ErrorRow() and ErrorCol() will return the location of the error (if known)
+ */
+ bool Error() const { return error; }
+
+ /// Contains a textual (english) description of the error if one occurs.
+ const char * ErrorDesc() const { return errorDesc.c_str (); }
+
+ /** Generally, you probably want the error string ( ErrorDesc() ). But if you
+ prefer the ErrorId, this function will fetch it.
+ */
+ int ErrorId() const { return errorId; }
+
+ /** Returns the location (if known) of the error. The first column is column 1,
+ and the first row is row 1. A value of 0 means the row and column wasn't applicable
+ (memory errors, for example, have no row/column) or the parser lost the error. (An
+ error in the error reporting, in that case.)
+
+ @sa SetTabSize, Row, Column
+ */
+ int ErrorRow() const { return errorLocation.row+1; }
+ int ErrorCol() const { return errorLocation.col+1; } ///< The column where the error occured. See ErrorRow()
+
+ /** SetTabSize() allows the error reporting functions (ErrorRow() and ErrorCol())
+ to report the correct values for row and column. It does not change the output
+ or input in any way.
+
+ By calling this method, with a tab size
+ greater than 0, the row and column of each node and attribute is stored
+ when the file is loaded. Very useful for tracking the DOM back in to
+ the source file.
+
+ The tab size is required for calculating the location of nodes. If not
+ set, the default of 4 is used. The tabsize is set per document. Setting
+ the tabsize to 0 disables row/column tracking.
+
+ Note that row and column tracking is not supported when using operator>>.
+
+ The tab size needs to be enabled before the parse or load. Correct usage:
+ @verbatim
+ TiXmlDocument doc;
+ doc.SetTabSize( 8 );
+ doc.Load( "myfile.xml" );
+ @endverbatim
+
+ @sa Row, Column
+ */
+ void SetTabSize( int _tabsize ) { tabsize = _tabsize; }
+
+ int TabSize() const { return tabsize; }
+
+ /** If you have handled the error, it can be reset with this call. The error
+ state is automatically cleared if you Parse a new XML block.
+ */
+ void ClearError() { error = false;
+ errorId = 0;
+ errorDesc = "";
+ errorLocation.row = errorLocation.col = 0;
+ //errorLocation.last = 0;
+ }
+
+ /** Write the document to standard out using formatted printing ("pretty print"). */
+ void Print() const { Print( stdout, 0 ); }
+
+ /* Write the document to a string using formatted printing ("pretty print"). This
+ will allocate a character array (new char[]) and return it as a pointer. The
+ calling code pust call delete[] on the return char* to avoid a memory leak.
+ */
+ //char* PrintToMemory() const;
+
+ /// Print this Document to a FILE stream.
+ virtual void Print( FILE* cfile, int depth = 0 ) const;
+ // [internal use]
+ void SetError( int err, const char* errorLocation, TiXmlParsingData* prevData, TiXmlEncoding encoding );
+
+ virtual const TiXmlDocument* ToDocument() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+ virtual TiXmlDocument* ToDocument() { return this; } ///< Cast to a more defined type. Will return null not of the requested type.
+
+ /** Walk the XML tree visiting this node and all of its children.
+ */
+ virtual bool Accept( TiXmlVisitor* content ) const;
+
+protected :
+ // [internal use]
+ virtual TiXmlNode* Clone() const;
+ #ifdef TIXML_USE_STL
+ virtual void StreamIn( std::istream * in, TIXML_STRING * tag );
+ #endif
+
+private:
+ void CopyTo( TiXmlDocument* target ) const;
+
+ bool error;
+ int errorId;
+ TIXML_STRING errorDesc;
+ int tabsize;
+ TiXmlCursor errorLocation;
+ bool useMicrosoftBOM; // the UTF-8 BOM were found when read. Note this, and try to write.
+};
+
+
+/**
+ A TiXmlHandle is a class that wraps a node pointer with null checks; this is
+ an incredibly useful thing. Note that TiXmlHandle is not part of the TinyXml
+ DOM structure. It is a separate utility class.
+
+ Take an example:
+ @verbatim
+ <Document>
+ <Element attributeA = "valueA">
+ <Child attributeB = "value1" />
+ <Child attributeB = "value2" />
+ </Element>
+ <Document>
+ @endverbatim
+
+ Assuming you want the value of "attributeB" in the 2nd "Child" element, it's very
+ easy to write a *lot* of code that looks like:
+
+ @verbatim
+ TiXmlElement* root = document.FirstChildElement( "Document" );
+ if ( root )
+ {
+ TiXmlElement* element = root->FirstChildElement( "Element" );
+ if ( element )
+ {
+ TiXmlElement* child = element->FirstChildElement( "Child" );
+ if ( child )
+ {
+ TiXmlElement* child2 = child->NextSiblingElement( "Child" );
+ if ( child2 )
+ {
+ // Finally do something useful.
+ @endverbatim
+
+ And that doesn't even cover "else" cases. TiXmlHandle addresses the verbosity
+ of such code. A TiXmlHandle checks for null pointers so it is perfectly safe
+ and correct to use:
+
+ @verbatim
+ TiXmlHandle docHandle( &document );
+ TiXmlElement* child2 = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", 1 ).ToElement();
+ if ( child2 )
+ {
+ // do something useful
+ @endverbatim
+
+ Which is MUCH more concise and useful.
+
+ It is also safe to copy handles - internally they are nothing more than node pointers.
+ @verbatim
+ TiXmlHandle handleCopy = handle;
+ @endverbatim
+
+ What they should not be used for is iteration:
+
+ @verbatim
+ int i=0;
+ while ( true )
+ {
+ TiXmlElement* child = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", i ).ToElement();
+ if ( !child )
+ break;
+ // do something
+ ++i;
+ }
+ @endverbatim
+
+ It seems reasonable, but it is in fact two embedded while loops. The Child method is
+ a linear walk to find the element, so this code would iterate much more than it needs
+ to. Instead, prefer:
+
+ @verbatim
+ TiXmlElement* child = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).FirstChild( "Child" ).ToElement();
+
+ for( child; child; child=child->NextSiblingElement() )
+ {
+ // do something
+ }
+ @endverbatim
+*/
+class TiXmlHandle
+{
+public:
+ /// Create a handle from any node (at any depth of the tree.) This can be a null pointer.
+ TiXmlHandle( TiXmlNode* _node ) { this->node = _node; }
+ /// Copy constructor
+ TiXmlHandle( const TiXmlHandle& ref ) { this->node = ref.node; }
+ TiXmlHandle operator=( const TiXmlHandle& ref ) { if ( &ref != this ) this->node = ref.node; return *this; }
+
+ /// Return a handle to the first child node.
+ TiXmlHandle FirstChild() const;
+ /// Return a handle to the first child node with the given name.
+ TiXmlHandle FirstChild( const char * value ) const;
+ /// Return a handle to the first child element.
+ TiXmlHandle FirstChildElement() const;
+ /// Return a handle to the first child element with the given name.
+ TiXmlHandle FirstChildElement( const char * value ) const;
+
+ /** Return a handle to the "index" child with the given name.
+ The first child is 0, the second 1, etc.
+ */
+ TiXmlHandle Child( const char* value, int index ) const;
+ /** Return a handle to the "index" child.
+ The first child is 0, the second 1, etc.
+ */
+ TiXmlHandle Child( int index ) const;
+ /** Return a handle to the "index" child element with the given name.
+ The first child element is 0, the second 1, etc. Note that only TiXmlElements
+ are indexed: other types are not counted.
+ */
+ TiXmlHandle ChildElement( const char* value, int index ) const;
+ /** Return a handle to the "index" child element.
+ The first child element is 0, the second 1, etc. Note that only TiXmlElements
+ are indexed: other types are not counted.
+ */
+ TiXmlHandle ChildElement( int index ) const;
+
+ #ifdef TIXML_USE_STL
+ TiXmlHandle FirstChild( const std::string& _value ) const { return FirstChild( _value.c_str() ); }
+ TiXmlHandle FirstChildElement( const std::string& _value ) const { return FirstChildElement( _value.c_str() ); }
+
+ TiXmlHandle Child( const std::string& _value, int index ) const { return Child( _value.c_str(), index ); }
+ TiXmlHandle ChildElement( const std::string& _value, int index ) const { return ChildElement( _value.c_str(), index ); }
+ #endif
+
+ /** Return the handle as a TiXmlNode. This may return null.
+ */
+ TiXmlNode* ToNode() const { return node; }
+ /** Return the handle as a TiXmlElement. This may return null.
+ */
+ TiXmlElement* ToElement() const { return ( ( node && node->ToElement() ) ? node->ToElement() : 0 ); }
+ /** Return the handle as a TiXmlText. This may return null.
+ */
+ TiXmlText* ToText() const { return ( ( node && node->ToText() ) ? node->ToText() : 0 ); }
+ /** Return the handle as a TiXmlUnknown. This may return null.
+ */
+ TiXmlUnknown* ToUnknown() const { return ( ( node && node->ToUnknown() ) ? node->ToUnknown() : 0 ); }
+
+ /** @deprecated use ToNode.
+ Return the handle as a TiXmlNode. This may return null.
+ */
+ TiXmlNode* Node() const { return ToNode(); }
+ /** @deprecated use ToElement.
+ Return the handle as a TiXmlElement. This may return null.
+ */
+ TiXmlElement* Element() const { return ToElement(); }
+ /** @deprecated use ToText()
+ Return the handle as a TiXmlText. This may return null.
+ */
+ TiXmlText* Text() const { return ToText(); }
+ /** @deprecated use ToUnknown()
+ Return the handle as a TiXmlUnknown. This may return null.
+ */
+ TiXmlUnknown* Unknown() const { return ToUnknown(); }
+
+private:
+ TiXmlNode* node;
+};
+
+
+/** Print to memory functionality. The TiXmlPrinter is useful when you need to:
+
+ -# Print to memory (especially in non-STL mode)
+ -# Control formatting (line endings, etc.)
+
+ When constructed, the TiXmlPrinter is in its default "pretty printing" mode.
+ Before calling Accept() you can call methods to control the printing
+ of the XML document. After TiXmlNode::Accept() is called, the printed document can
+ be accessed via the CStr(), Str(), and Size() methods.
+
+ TiXmlPrinter uses the Visitor API.
+ @verbatim
+ TiXmlPrinter printer;
+ printer.SetIndent( "\t" );
+
+ doc.Accept( &printer );
+ fprintf( stdout, "%s", printer.CStr() );
+ @endverbatim
+*/
+class TiXmlPrinter : public TiXmlVisitor
+{
+public:
+ TiXmlPrinter() : depth( 0 ), simpleTextPrint( false ),
+ buffer(), indent( " " ), lineBreak( "\n" ) {}
+
+ virtual bool VisitEnter( const TiXmlDocument& doc );
+ virtual bool VisitExit( const TiXmlDocument& doc );
+
+ virtual bool VisitEnter( const TiXmlElement& element, const TiXmlAttribute* firstAttribute );
+ virtual bool VisitExit( const TiXmlElement& element );
+
+ virtual bool Visit( const TiXmlDeclaration& declaration );
+ virtual bool Visit( const TiXmlText& text );
+ virtual bool Visit( const TiXmlComment& comment );
+ virtual bool Visit( const TiXmlUnknown& unknown );
+
+ /** Set the indent characters for printing. By default 4 spaces
+ but tab (\t) is also useful, or null/empty string for no indentation.
+ */
+ void SetIndent( const char* _indent ) { indent = _indent ? _indent : "" ; }
+ /// Query the indention string.
+ const char* Indent() { return indent.c_str(); }
+ /** Set the line breaking string. By default set to newline (\n).
+ Some operating systems prefer other characters, or can be
+ set to the null/empty string for no indenation.
+ */
+ void SetLineBreak( const char* _lineBreak ) { lineBreak = _lineBreak ? _lineBreak : ""; }
+ /// Query the current line breaking string.
+ const char* LineBreak() { return lineBreak.c_str(); }
+
+ /** Switch over to "stream printing" which is the most dense formatting without
+ linebreaks. Common when the XML is needed for network transmission.
+ */
+ void SetStreamPrinting() { indent = "";
+ lineBreak = "";
+ }
+ /// Return the result.
+ const char* CStr() { return buffer.c_str(); }
+ /// Return the length of the result string.
+ size_t Size() { return buffer.size(); }
+
+ #ifdef TIXML_USE_STL
+ /// Return the result.
+ const std::string& Str() { return buffer; }
+ #endif
+
+private:
+ void DoIndent() {
+ for( int i=0; i<depth; ++i )
+ buffer += indent;
+ }
+ void DoLineBreak() {
+ buffer += lineBreak;
+ }
+
+ int depth;
+ bool simpleTextPrint;
+ TIXML_STRING buffer;
+ TIXML_STRING indent;
+ TIXML_STRING lineBreak;
+};
+
+
+#ifdef _MSC_VER
+#pragma warning( pop )
+#endif
+
+#endif
diff --git a/include/trajectory/EndCircleTraj.h b/include/trajectory/EndCircleTraj.h
index 6724fa3..de82319 100755
--- a/include/trajectory/EndCircleTraj.h
+++ b/include/trajectory/EndCircleTraj.h
@@ -1,32 +1,32 @@
-#ifndef ENDCIRCLETRAJ_H
-#define ENDCIRCLETRAJ_H
-
-#include "trajectory/EndHomoTraj.h"
-
-class EndCircleTraj: public EndHomoTraj{
-public:
- EndCircleTraj(CtrlComponents *ctrlComp);
- ~EndCircleTraj(){}
-
- void setEndRoundTraj(HomoMat startHomo, Vec3 axisPointFromInit,
- Vec3 axisDirection, double maxSpeed, double angle,
- bool keepOrientation = true);
- void setEndRoundTraj(std::string stateName, Vec3 axisPointFromInit,
- Vec3 axisDirection, double maxSpeed, double angle,
- bool keepOrientation = true);
- void setEndRoundTraj(Vec6 startP, Vec6 middleP, Vec6 endP, double speed);
-private:
- void _centerCircle(Vec3 p1, Vec3 p2, Vec3 p3);
- bool _getEndTraj(HomoMat &homo, Vec6 &twist);
- Vec3 _center, _omegaAxis;
- double _radius, _theta;
-
- Vec6 _middlePosture;
- Vec6 _middleQ;
- HomoMat _initHomoToCenter, _middleHomo, _centerHomo;
- RotMat _initOri;
-
- bool _keepOrientation;
-};
-
+#ifndef ENDCIRCLETRAJ_H
+#define ENDCIRCLETRAJ_H
+
+#include "trajectory/EndHomoTraj.h"
+
+class EndCircleTraj: public EndHomoTraj{
+public:
+ EndCircleTraj(CtrlComponents *ctrlComp);
+ ~EndCircleTraj(){}
+
+ void setEndRoundTraj(HomoMat startHomo, Vec3 axisPointFromInit,
+ Vec3 axisDirection, double maxSpeed, double angle,
+ bool keepOrientation = true);
+ void setEndRoundTraj(std::string stateName, Vec3 axisPointFromInit,
+ Vec3 axisDirection, double maxSpeed, double angle,
+ bool keepOrientation = true);
+ void setEndRoundTraj(Vec6 startP, Vec6 middleP, Vec6 endP, double speed);
+private:
+ void _centerCircle(Vec3 p1, Vec3 p2, Vec3 p3);
+ bool _getEndTraj(HomoMat &homo, Vec6 &twist);
+ Vec3 _center, _omegaAxis;
+ double _radius, _theta;
+
+ Vec6 _middlePosture;
+ Vec6 _middleQ;
+ HomoMat _initHomoToCenter, _middleHomo, _centerHomo;
+ RotMat _initOri;
+
+ bool _keepOrientation;
+};
+
#endif // ENDCIRCLETRAJ_H
\ No newline at end of file
diff --git a/include/trajectory/EndLineTraj.h b/include/trajectory/EndLineTraj.h
old mode 100755
new mode 100644
diff --git a/include/trajectory/JointSpaceTraj.h b/include/trajectory/JointSpaceTraj.h
index 8533c06..2e4b123 100755
--- a/include/trajectory/JointSpaceTraj.h
+++ b/include/trajectory/JointSpaceTraj.h
@@ -1,33 +1,33 @@
-#ifndef JOINTSPACETRAJ_H
-#define JOINTSPACETRAJ_H
-
-#include <vector>
-#include <trajectory/Trajectory.h>
-#include <string>
-#include "control/CtrlComponents.h"
-#include "trajectory/SCurve.h"
-
-
-class JointSpaceTraj : public Trajectory{
-public:
- JointSpaceTraj(CtrlComponents *ctrlComp);
- ~JointSpaceTraj(){}
-
- bool getJointCmd(Vec6 &q, Vec6 &qd);
- bool getJointCmd(Vec6 &q, Vec6 &qd, double &gripperQ, double &gripperQd);
-
- void setGripper(double startQ, double endQ, double speed = M_PI);
- void setJointTraj(Vec6 startQ, Vec6 endQ, double speed);
- bool setJointTraj(Vec6 startQ, std::string endName, double speed);
- bool setJointTraj(std::string startName, std::string endName, double speed);
-private:
- void _generateA345(double pathTime);
-
- SCurve _jointCurve;
- const double ddQMax = 15.0;
- const double dddQMax = 30.0;
-
- double _a3, _a4, _a5, _s, _sDot;
-};
-
+#ifndef JOINTSPACETRAJ_H
+#define JOINTSPACETRAJ_H
+
+#include <vector>
+#include <trajectory/Trajectory.h>
+#include <string>
+#include "control/CtrlComponents.h"
+#include "trajectory/SCurve.h"
+
+
+class JointSpaceTraj : public Trajectory{
+public:
+ JointSpaceTraj(CtrlComponents *ctrlComp);
+ ~JointSpaceTraj(){}
+
+ bool getJointCmd(Vec6 &q, Vec6 &qd);
+ bool getJointCmd(Vec6 &q, Vec6 &qd, double &gripperQ, double &gripperQd);
+
+ void setGripper(double startQ, double endQ, double speed = M_PI);
+ void setJointTraj(Vec6 startQ, Vec6 endQ, double speed);
+ bool setJointTraj(Vec6 startQ, std::string endName, double speed);
+ bool setJointTraj(std::string startName, std::string endName, double speed);
+private:
+ void _generateA345(double pathTime);
+
+ SCurve _jointCurve;
+ const double ddQMax = 15.0;
+ const double dddQMax = 30.0;
+
+ double _a3, _a4, _a5, _s, _sDot;
+};
+
#endif // JOINTSPACETRAJ_H
\ No newline at end of file
diff --git a/include/trajectory/SCurve.h b/include/trajectory/SCurve.h
index cad0d30..9330785 100755
--- a/include/trajectory/SCurve.h
+++ b/include/trajectory/SCurve.h
@@ -1,49 +1,49 @@
-#ifndef SCURVE_H
-#define SCURVE_H
-
-/* 归一化后的s曲线 */
-
-#include <iostream>
-
-class SCurve{
-public:
- SCurve(){}
- ~SCurve(){}
- void setSCurve(double deltaQ, double dQMax, double ddQMax, double dddQMax);
- void restart();
-/*
-考虑到归一化，在实际使用时，物理量为：
-加速度 = deltaQ * getDDs();
-*/
- double getDDs();
- double getDDs(double t);
-/*
-考虑到归一化，在实际使用时，物理量为：
-速度 = deltaQ * getDs();
-*/
- double getDs();
- double getDs(double t);
-/*
-考虑到归一化，在实际使用时，物理量为：
-位置 = deltaQ * gets();
-*/
- double gets();
- double gets(double t);
-
- double getT();
-private:
- int _getSegment(double t);
- void _setFunc();
- double _runTime();
-
- bool _started = false;
- double _startTime;
-
- double _J, _aMax, _vMax;
- double _T[7]; // period
- double _t[7]; // moment
- double _v0, _v1; // ds at _t[0], _t[1]
- double _s0, _s1, _s2, _s3, _s4, _s5, _s6; // s at _t[0], _t[1]
-};
-
+#ifndef SCURVE_H
+#define SCURVE_H
+
+/* 归一化后的s曲线 */
+
+#include <iostream>
+
+class SCurve{
+public:
+ SCurve(){}
+ ~SCurve(){}
+ void setSCurve(double deltaQ, double dQMax, double ddQMax, double dddQMax);
+ void restart();
+/*
+考虑到归一化，在实际使用时，物理量为：
+加速度 = deltaQ * getDDs();
+*/
+ double getDDs();
+ double getDDs(double t);
+/*
+考虑到归一化，在实际使用时，物理量为：
+速度 = deltaQ * getDs();
+*/
+ double getDs();
+ double getDs(double t);
+/*
+考虑到归一化，在实际使用时，物理量为：
+位置 = deltaQ * gets();
+*/
+ double gets();
+ double gets(double t);
+
+ double getT();
+private:
+ int _getSegment(double t);
+ void _setFunc();
+ double _runTime();
+
+ bool _started = false;
+ double _startTime;
+
+ double _J, _aMax, _vMax;
+ double _T[7]; // period
+ double _t[7]; // moment
+ double _v0, _v1; // ds at _t[0], _t[1]
+ double _s0, _s1, _s2, _s3, _s4, _s5, _s6; // s at _t[0], _t[1]
+};
+
#endif // SCURVE_H
\ No newline at end of file
diff --git a/include/trajectory/StopForTime.h b/include/trajectory/StopForTime.h
index 0e435ce..7d02c99 100755
--- a/include/trajectory/StopForTime.h
+++ b/include/trajectory/StopForTime.h
@@ -1,17 +1,17 @@
-#ifndef STOPFORTIME_H
-#define STOPFORTIME_H
-
-#include "trajectory/Trajectory.h"
-
-class StopForTime : public Trajectory{
-public:
- StopForTime(CtrlComponents *ctrlComp);
- ~StopForTime(){}
-
- bool getJointCmd(Vec6 &q, Vec6 &qd);
- bool getJointCmd(Vec6 &q, Vec6 &qd, double &gripperQ, double &gripperQd);
- void setStop(Vec6 stopQ, double stopTime);
-private:
-};
-
+#ifndef STOPFORTIME_H
+#define STOPFORTIME_H
+
+#include "trajectory/Trajectory.h"
+
+class StopForTime : public Trajectory{
+public:
+ StopForTime(CtrlComponents *ctrlComp);
+ ~StopForTime(){}
+
+ bool getJointCmd(Vec6 &q, Vec6 &qd);
+ bool getJointCmd(Vec6 &q, Vec6 &qd, double &gripperQ, double &gripperQd);
+ void setStop(Vec6 stopQ, double stopTime);
+private:
+};
+
#endif // STOPFORTIME_H
\ No newline at end of file
diff --git a/include/trajectory/TrajectoryManager.h b/include/trajectory/TrajectoryManager.h
index 7bc364a..a4afb86 100755
--- a/include/trajectory/TrajectoryManager.h
+++ b/include/trajectory/TrajectoryManager.h
@@ -1,38 +1,38 @@
-#ifndef TRAJECTORY_MANAGER_H
-#define TRAJECTORY_MANAGER_H
-
-#include <vector>
-#include "control/CtrlComponents.h"
-#include "trajectory/JointSpaceTraj.h"
-#include "trajectory/EndLineTraj.h"
-#include "trajectory/EndCircleTraj.h"
-#include "trajectory/StopForTime.h"
-
-class TrajectoryManager{
-public:
- TrajectoryManager(CtrlComponents *ctrlComp);
- ~TrajectoryManager(){}
- bool getJointCmd(Vec6 &q, Vec6 &qd);
- bool getJointCmd(Vec6 &q, Vec6 &qd, double &gripperQ, double &gripperQd);
- void addTrajectory(Trajectory* traj);
- void setLoop(double backSpeed = 0.7);
- void restartTraj();
- void emptyTraj();
- Vec6 getStartQ();
- Vec6 getEndQ();
- Vec6 getEndPosture();
- double getStartGripperQ();
- double getEndGripperQ();
- HomoMat getEndHomo();
- size_t size() {return _trajVec.size();} ;
-private:
- CtrlComponents *_ctrlComp;
- JointSpaceTraj *_trajBack;
- std::vector<Trajectory*> _trajVec;
- int _trajID = 0;
- double _jointErr = 0.05;
- bool _trajCorrect = true;
- bool _loop = false;
-};
-
+#ifndef TRAJECTORY_MANAGER_H
+#define TRAJECTORY_MANAGER_H
+
+#include <vector>
+#include "control/CtrlComponents.h"
+#include "trajectory/JointSpaceTraj.h"
+#include "trajectory/EndLineTraj.h"
+#include "trajectory/EndCircleTraj.h"
+#include "trajectory/StopForTime.h"
+
+class TrajectoryManager{
+public:
+ TrajectoryManager(CtrlComponents *ctrlComp);
+ ~TrajectoryManager(){}
+ bool getJointCmd(Vec6 &q, Vec6 &qd);
+ bool getJointCmd(Vec6 &q, Vec6 &qd, double &gripperQ, double &gripperQd);
+ void addTrajectory(Trajectory* traj);
+ void setLoop(double backSpeed = 0.7);
+ void restartTraj();
+ void emptyTraj();
+ Vec6 getStartQ();
+ Vec6 getEndQ();
+ Vec6 getEndPosture();
+ double getStartGripperQ();
+ double getEndGripperQ();
+ HomoMat getEndHomo();
+ size_t size() {return _trajVec.size();} ;
+private:
+ CtrlComponents *_ctrlComp;
+ JointSpaceTraj *_trajBack;
+ std::vector<Trajectory*> _trajVec;
+ int _trajID = 0;
+ double _jointErr = 0.05;
+ bool _trajCorrect = true;
+ bool _loop = false;
+};
+
#endif // TRAJECTORY_MANAGER_H
\ No newline at end of file
diff --git a/lib/libZ1_ROS_Linux64.so b/lib/libZ1_ROS_x86_64.so
old mode 100644
new mode 100755
similarity index 90%
rename from lib/libZ1_ROS_Linux64.so
rename to lib/libZ1_ROS_x86_64.so
index fc463edb3a9e287b44fbb3bf997107ad09b83faa..5c494806d49b5c5a6f655681bb3689fb27a3c1c2
GIT binary patch
delta 30863
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diff --git a/lib/libZ1_UDP_aarch64.so b/lib/libZ1_UDP_aarch64.so
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diff --git a/lib/libZ1_UDP_Linux64.so b/lib/libZ1_UDP_x86_64.so
old mode 100644
new mode 100755
similarity index 90%
rename from lib/libZ1_UDP_Linux64.so
rename to lib/libZ1_UDP_x86_64.so
index 87b0dd04268aeddcf2c6c3901291b9022a05d433..e06d4a00d81be2ebd7ef9e0ebcfc3a7bbd91ccb6
GIT binary patch
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diff --git a/main.cpp b/main.cpp
old mode 100755
new mode 100644