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Array::packSquareMatrix(), Array::unpackSquareMatrix()
This commit is contained in:
Pavel Kirienko
@@ -10,6 +10,7 @@
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#include <algorithm>
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#include <stdexcept>
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#include <cstring>
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#include <cmath>
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#include <uavcan/error.hpp>
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#include <uavcan/util/compile_time.hpp>
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#include <uavcan/impl_constants.hpp>
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@@ -336,6 +337,108 @@ class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
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return -ErrLogic;
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}
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template <typename InputIter>
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void packSquareMatrixImpl(const InputIter src_row_major)
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{
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StaticAssert<IsDynamic>::check();
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enum { Width = CompileTimeIntSqrt<MaxSize>::Result };
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bool all_nans = true;
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bool scalar_matrix = true;
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bool diagonal_matrix = true;
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/*
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* Detecting how the matrix can be compressed:
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* - Matrix that consists only of NANs will be eliminated completely;
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* - Scalar matrix will be reduced to one value;
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* - Diagonal matrix will be reduced to array of length Width.
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*/
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{
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unsigned index = 0;
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for (InputIter it = src_row_major; index < MaxSize; ++it, ++index)
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{
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const bool on_diagonal = (index / Width) == (index % Width);
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#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
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const bool nan = std::isnan(*it);
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#else
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const bool nan = (*it) != (*it);
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#endif
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if (!nan)
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{
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all_nans = false;
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}
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if (!on_diagonal && (*it) != 0) // TODO: Proper float comparison
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{
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scalar_matrix = false; // This matrix cannot be compressed.
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diagonal_matrix = false;
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break;
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}
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if (on_diagonal && (*it) != (*src_row_major)) // TODO: Proper float comparison
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{
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scalar_matrix = false;
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}
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}
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}
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/*
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* Actual packing is performed here.
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*/
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this->clear();
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if (!all_nans)
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{
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unsigned index = 0;
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for (InputIter it = src_row_major; index < MaxSize; ++it, ++index)
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{
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const bool on_diagonal = (index / Width) == (index % Width);
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if (diagonal_matrix && !on_diagonal)
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{
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continue;
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}
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this->push_back(ValueType(*it));
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if (scalar_matrix)
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{
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break;
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}
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}
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}
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}
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template <typename OutputIter>
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void unpackSquareMatrixImpl(OutputIter it) const
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{
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StaticAssert<IsDynamic>::check();
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enum { Width = CompileTimeIntSqrt<MaxSize>::Result };
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/*
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* Unpacking as follows:
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* - Array of length 1 will be unpacked to scalar matrix
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* - Array of length Width will be unpacked to diagonal matrix
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* - Array of length MaxSize will be unpacked to full matrix
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* - All other length values will yield zero matrix
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*/
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if (this->size() == Width || this->size() == 1)
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{
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for (unsigned index = 0; index < MaxSize; index++)
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{
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const bool on_diagonal = (index / Width) == (index % Width);
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if (on_diagonal)
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{
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const SizeType source_index = (this->size() == 1) ? 0 : (index / Width);
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*it++ = at(source_index);
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}
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else
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{
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*it++ = 0;
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}
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}
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}
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else if (this->size() == MaxSize)
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{
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std::copy(this->begin(), this->end(), it);
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}
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else
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{
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std::fill_n(it, MaxSize, 0);
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}
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}
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public:
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typedef T RawValueType;
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typedef typename StorageType<T>::Type ValueType;
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@@ -517,6 +620,72 @@ public:
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}
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}
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/**
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* Fills this array as a packed square matrix from a static array.
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*/
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template <typename ScalarType>
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void packSquareMatrix(const ScalarType (&src_row_major)[MaxSize])
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{
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packSquareMatrixImpl<const ScalarType*>(src_row_major);
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}
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/**
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* Fills this array as a packed square matrix from any container that implements the methods begin() and size().
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*/
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template <typename R>
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typename EnableIf<sizeof(((const R*)(0U))->begin()) && sizeof(((const R*)(0U))->size())>::Type
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packSquareMatrix(const R& src_row_major)
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{
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if (src_row_major.size() == MaxSize)
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{
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packSquareMatrixImpl(src_row_major.begin());
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}
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else if (src_row_major.size() == 0)
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{
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this->clear();
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}
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else
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{
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#if UAVCAN_EXCEPTIONS
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throw std::out_of_range("uavcan::Array::packSquareMatrix()");
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#else
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assert(0);
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this->clear();
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#endif
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}
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}
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/**
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* Reconstructs full matrix, result will be saved into a static array.
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*/
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template <typename ScalarType>
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void unpackSquareMatrix(ScalarType (&dst_row_major)[MaxSize]) const
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{
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unpackSquareMatrixImpl<ScalarType*>(dst_row_major);
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}
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/**
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* Reconstructs full matrix, result will be saved into container that implements begin() and size().
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*/
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template <typename R>
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typename EnableIf<sizeof(((const R*)(0U))->begin()) && sizeof(((const R*)(0U))->size())>::Type
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unpackSquareMatrix(R& dst_row_major) const
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{
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if (dst_row_major.size() == MaxSize)
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{
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unpackSquareMatrixImpl(dst_row_major.begin());
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}
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else
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{
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#if UAVCAN_EXCEPTIONS
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throw std::out_of_range("uavcan::Array::unpackSquareMatrix()");
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#else
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assert(0);
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#endif
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}
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}
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typedef ValueType value_type;
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typedef SizeType size_type;
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};
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@@ -118,4 +118,17 @@ To try_implicit_cast(const From& from)
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BooleanType<IsImplicitlyConvertibleFromTo<From, To>::Result>());
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}
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/**
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* Some arithmetics
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*/
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template <unsigned Value> struct CompileTimeIntSqrt;
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template <> struct CompileTimeIntSqrt<4> { enum { Result = 2 }; };
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template <> struct CompileTimeIntSqrt<9> { enum { Result = 3 }; };
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template <> struct CompileTimeIntSqrt<16> { enum { Result = 4 }; };
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template <> struct CompileTimeIntSqrt<25> { enum { Result = 5 }; };
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template <> struct CompileTimeIntSqrt<36> { enum { Result = 6 }; };
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template <> struct CompileTimeIntSqrt<49> { enum { Result = 7 }; };
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template <> struct CompileTimeIntSqrt<64> { enum { Result = 8 }; };
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template <> struct CompileTimeIntSqrt<81> { enum { Result = 9 }; };
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}
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@@ -832,3 +832,240 @@ TEST(Array, MultidimensionalStreaming)
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uavcan::YamlStreamer<ThreeDimensional>::stream(std::cout, threedee, 0);
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std::cout << std::endl;
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}
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TEST(Array, SquareMatrixPacking)
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{
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Array<FloatSpec<16, CastModeSaturate>, ArrayModeDynamic, 9> m3x3s;
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Array<FloatSpec<32, CastModeSaturate>, ArrayModeDynamic, 4> m2x2f;
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Array<FloatSpec<64, CastModeSaturate>, ArrayModeDynamic, 36> m6x6d;
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// NAN will be reduced to empty array
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{
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const double nans3x3[] =
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{
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NAN, NAN, NAN,
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NAN, NAN, NAN,
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NAN, NAN, NAN
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};
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m3x3s.packSquareMatrix(nans3x3);
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ASSERT_EQ(0, m3x3s.size());
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// Empty array will be decoded as zero matrix
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double nans3x3_out[9];
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m3x3s.unpackSquareMatrix(nans3x3_out);
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for (int i = 0; i < 9; i++)
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{
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ASSERT_FLOAT_EQ(0, nans3x3_out[i]);
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}
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}
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{
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std::vector<double> empty;
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m3x3s.packSquareMatrix(empty);
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ASSERT_EQ(0, m3x3s.size());
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empty.resize(9);
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m3x3s.unpackSquareMatrix(empty);
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for (int i = 0; i < 9; i++)
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{
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ASSERT_FLOAT_EQ(0, empty.at(i));
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}
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}
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// Scalar matrix will be reduced to a single value
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{
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std::vector<float> scalar2x2(4);
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scalar2x2[0] = scalar2x2[3] = 3.14;
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m2x2f.packSquareMatrix(scalar2x2);
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ASSERT_EQ(1, m2x2f.size());
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ASSERT_FLOAT_EQ(3.14, m2x2f[0]);
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m2x2f.unpackSquareMatrix(scalar2x2);
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const float reference[] =
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{
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3.14, 0,
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0, 3.14
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};
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ASSERT_TRUE(std::equal(scalar2x2.begin(), scalar2x2.end(), reference));
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}
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{
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const float scalar6x6[] =
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{
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-18, 0, 0, 0, 0, 0,
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0, -18, 0, 0, 0, 0,
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0, 0, -18, 0, 0, 0,
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0, 0, 0, -18, 0, 0,
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0, 0, 0, 0, -18, 0,
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0, 0, 0, 0, 0, -18
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};
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m6x6d.packSquareMatrix(scalar6x6);
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ASSERT_EQ(1, m6x6d.size());
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ASSERT_FLOAT_EQ(-18, m6x6d[0]);
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std::vector<long double> output(36);
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m6x6d.unpackSquareMatrix(output);
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ASSERT_TRUE(std::equal(output.begin(), output.end(), scalar6x6));
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}
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// Diagonal matrix will be reduced to an array of length Width
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{
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const float diagonal6x6[] =
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{
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1, 0, 0, 0, 0, 0,
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0, -2, 0, 0, 0, 0,
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0, 0, 3, 0, 0, 0,
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0, 0, 0, -4, 0, 0,
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0, 0, 0, 0, 5, 0,
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0, 0, 0, 0, 0, -6
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};
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m6x6d.packSquareMatrix(diagonal6x6);
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ASSERT_EQ(6, m6x6d.size());
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ASSERT_FLOAT_EQ(1, m6x6d[0]);
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ASSERT_FLOAT_EQ(-2, m6x6d[1]);
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ASSERT_FLOAT_EQ(3, m6x6d[2]);
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ASSERT_FLOAT_EQ(-4, m6x6d[3]);
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ASSERT_FLOAT_EQ(5, m6x6d[4]);
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ASSERT_FLOAT_EQ(-6, m6x6d[5]);
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std::vector<long double> output(36);
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m6x6d.unpackSquareMatrix(output);
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ASSERT_TRUE(std::equal(output.begin(), output.end(), diagonal6x6));
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}
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// A matrix filled with random values will not be compressed
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{
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std::vector<float> full3x3(9);
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for (int i = 0; i < 9; i++)
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{
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full3x3[i] = i;
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}
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m3x3s.packSquareMatrix(full3x3);
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ASSERT_EQ(9, m3x3s.size());
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for (int i = 0; i < 9; i++)
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{
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ASSERT_FLOAT_EQ(i, m3x3s[i]);
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}
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long output[9];
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m3x3s.unpackSquareMatrix(output);
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ASSERT_TRUE(std::equal(full3x3.begin(), full3x3.end(), output));
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}
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// This will be represented as diagonal - NANs are exceptional
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{
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const double scalarnan3x3[] =
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{
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NAN, 0, 0,
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0, NAN, 0,
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0, 0, NAN
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};
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m3x3s.packSquareMatrix(scalarnan3x3);
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ASSERT_EQ(3, m3x3s.size());
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ASSERT_FALSE(m3x3s[0] == m3x3s[0]); // NAN
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ASSERT_FALSE(m3x3s[1] == m3x3s[1]); // NAN
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ASSERT_FALSE(m3x3s[2] == m3x3s[2]); // NAN
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float output[9];
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m3x3s.unpackSquareMatrix(output);
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ASSERT_FALSE(output[0] == output[0]); // NAN
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ASSERT_EQ(0, output[1]);
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ASSERT_EQ(0, output[2]);
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ASSERT_EQ(0, output[3]);
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ASSERT_FALSE(output[4] == output[4]); // NAN
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ASSERT_EQ(0, output[5]);
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ASSERT_EQ(0, output[6]);
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ASSERT_EQ(0, output[7]);
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ASSERT_FALSE(output[8] == output[8]); // NAN
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}
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// This is a full matrix too (notice the NAN)
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{
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const float full2x2[] =
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{
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1, NAN,
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0, -2
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};
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m2x2f.packSquareMatrix(full2x2);
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ASSERT_EQ(4, m2x2f.size());
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ASSERT_FLOAT_EQ(1, m2x2f[0]);
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ASSERT_FALSE(m2x2f[1] == m2x2f[1]); // NAN
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ASSERT_FLOAT_EQ(0, m2x2f[2]);
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ASSERT_FLOAT_EQ(-2, m2x2f[3]);
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float output[4];
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m2x2f.unpackSquareMatrix(output);
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ASSERT_EQ(1, output[0]);
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ASSERT_FALSE(output[1] == output[1]); // NAN
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ASSERT_EQ(0, output[2]);
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ASSERT_EQ(-2, output[3]);
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}
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// Zero matrix will be represented as scalar matrix
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{
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const float zero2x2[] =
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{
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0, 0,
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0, 0
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};
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m2x2f.packSquareMatrix(zero2x2);
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ASSERT_EQ(1, m2x2f.size());
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ASSERT_FLOAT_EQ(0, m2x2f[0]);
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}
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}
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TEST(Array, SquareMatrixPackingIntegers)
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{
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Array<IntegerSpec<30, SignednessSigned, CastModeSaturate>, ArrayModeDynamic, 9> m3x3int;
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{
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const long scalar[] =
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{
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42, 0, 0,
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0, 42, 0,
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0, 0, 42
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};
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m3x3int.packSquareMatrix(scalar);
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ASSERT_EQ(1, m3x3int.size());
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ASSERT_EQ(42, m3x3int[0]);
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std::vector<int> output(9);
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m3x3int.unpackSquareMatrix(output);
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ASSERT_TRUE(std::equal(output.begin(), output.end(), scalar));
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}
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{
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std::vector<short> diagonal(9);
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diagonal[0] = 6;
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diagonal[4] = -57;
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diagonal[8] = 1139;
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m3x3int.packSquareMatrix(diagonal);
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ASSERT_EQ(3, m3x3int.size());
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ASSERT_EQ(6, m3x3int[0]);
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ASSERT_EQ(-57, m3x3int[1]);
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ASSERT_EQ(1139, m3x3int[2]);
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}
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{
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std::vector<long double> full(9);
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for (int i = 0; i < 9; i++)
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{
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full[i] = i;
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}
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m3x3int.packSquareMatrix(full);
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ASSERT_EQ(9, m3x3int.size());
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for (int i = 0; i < 9; i++)
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{
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ASSERT_EQ(i, m3x3int[i]);
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}
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}
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}
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#if UAVCAN_EXCEPTIONS
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TEST(Array, SquareMatrixPackingErrors)
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{
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Array<FloatSpec<16, CastModeSaturate>, ArrayModeDynamic, 9> m3x3s;
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std::vector<float> ill_formed_row_major(8);
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ASSERT_THROW(m3x3s.packSquareMatrix(ill_formed_row_major), std::out_of_range);
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ASSERT_THROW(m3x3s.unpackSquareMatrix(ill_formed_row_major), std::out_of_range);
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}
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#endif
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