[Sofa/Core] Add Data[Eigen].h

Sofa/framework/Core/CMakeLists.txt

@@ -145,6 +145,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/collision/IntersectorFactory.h
     ${SRC_ROOT}/collision/NarrowPhaseDetection.h
     ${SRC_ROOT}/collision/Pipeline.h
+    ${SRC_ROOT}/data/Data[Eigen].h
     ${SRC_ROOT}/loader/BaseLoader.h
     ${SRC_ROOT}/loader/ImageLoader.h
     ${SRC_ROOT}/loader/MeshLoader.h
@@ -343,6 +344,7 @@ set(SOURCE_FILES
     ${SRC_ROOT}/objectmodel/ScriptEvent.cpp
     ${SRC_ROOT}/objectmodel/Tag.cpp
     ${SRC_ROOT}/objectmodel/TagSet.cpp
+    ${SRC_ROOT}/data/Data[Eigen].cpp
     ${SRC_ROOT}/topology/BaseMeshTopology.cpp
     ${SRC_ROOT}/topology/BaseTopology.cpp
     ${SRC_ROOT}/topology/BaseTopologyObject.cpp

Sofa/framework/Core/src/sofa/core/data/Data[Eigen].cpp

@@ -0,0 +1,243 @@
+/******************************************************************************
+ *                 SOFA, Simulation Open-Framework Architecture                *
+ *                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+ *                                                                             *
+ * This program is free software; you can redistribute it and/or modify it     *
+ * under the terms of the GNU Lesser General Public License as published by    *
+ * the Free Software Foundation; either version 2.1 of the License, or (at     *
+ * your option) any later version.                                             *
+ *                                                                             *
+ * This program is distributed in the hope that it will be useful, but WITHOUT *
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+ * for more details.                                                           *
+ *                                                                             *
+ * You should have received a copy of the GNU Lesser General Public License    *
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+ *******************************************************************************
+ * Authors: The SOFA Team and external contributors (see Authors.txt)          *
+ *                                                                             *
+ * Contact information: contact@sofa-framework.org                             *
+ ******************************************************************************/
+#include <sofa/core/data/Data[Eigen].h>
+
+#include <sstream>
+
+namespace sofa::core::objectmodel
+{
+
+/// Shared IO implementation for Eigen matrices, partially specialized on the
+/// whole Eigen::Matrix<Scalar, Rows, Cols, ...> family (dynamic or fixed size,
+/// any scalar type) so that a single implementation serves every matrix type.
+template<typename MatrixType> struct EigenMatrixDataIO; // only the Eigen::Matrix family is specialized
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct EigenMatrixDataIO<Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>>
+{
+    using Matrix = Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>;
+
+    /// Reads the dimensions, resizes dynamic matrices accordingly, then reads
+    /// the coefficients in row-major order. Sets failbit and returns false on
+    /// invalid dimensions (negative, or conflicting with a compile-time size)
+    /// or on parsing failure.
+    static bool read(std::istream& in, Matrix& matrix)
+    {
+        Eigen::Index rows = 0;
+        Eigen::Index cols = 0;
+        in >> rows >> cols;
+
+        const bool dimsValid = !in.fail()
+                               && rows >= 0 && cols >= 0
+                               && (Rows == Eigen::Dynamic || rows == Rows)
+                               && (Cols == Eigen::Dynamic || cols == Cols);
+        if (!dimsValid)
+        {
+            in.setstate(std::ios::failbit);
+            return false;
+        }
+
+        if constexpr (Rows == Eigen::Dynamic || Cols == Eigen::Dynamic)
+        {
+            matrix.resize(rows, cols);
+        }
+
+        for (Eigen::Index row = 0; row < rows; ++row)
+        {
+            for (Eigen::Index col = 0; col < cols; ++col)
+            {
+                in >> matrix(row, col);
+            }
+        }
+        return !in.fail();
+    }
+
+    /// Prints the dimensions, then the coefficients in row-major order.
+    static void print(std::ostream& out, const Matrix& matrix)
+    {
+        out << matrix.rows() << ' ' << matrix.cols();
+        for (Eigen::Index row = 0; row < matrix.rows(); ++row)
+        {
+            for (Eigen::Index col = 0; col < matrix.cols(); ++col)
+            {
+                out << ' ' << matrix(row, col);
+            }
+        }
+    }
+};
+
+/// The read() and getValueString() specializations are thin forwarders to the
+/// shared EigenMatrixDataIO helper (see Data[Eigen].h).
+template<>
+bool SOFA_CORE_API Data<Eigen::MatrixXf>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::MatrixXf>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::MatrixXf>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::MatrixXf>::print( out, getValue() );
+    return out.str();
+}
+
+template<>
+bool SOFA_CORE_API Data<Eigen::MatrixXd>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::MatrixXd>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::MatrixXd>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::MatrixXd>::print( out, getValue() );
+    return out.str();
+}
+
+template<>
+bool SOFA_CORE_API Data<Eigen::Matrix2f>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::Matrix2f>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::Matrix2f>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::Matrix2f>::print( out, getValue() );
+    return out.str();
+}
+
+template<>
+bool SOFA_CORE_API Data<Eigen::Matrix2d>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::Matrix2d>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::Matrix2d>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::Matrix2d>::print( out, getValue() );
+    return out.str();
+}
+
+template<>
+bool SOFA_CORE_API Data<Eigen::Matrix3f>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::Matrix3f>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::Matrix3f>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::Matrix3f>::print( out, getValue() );
+    return out.str();
+}
+
+template<>
+bool SOFA_CORE_API Data<Eigen::Matrix3d>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::Matrix3d>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::Matrix3d>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::Matrix3d>::print( out, getValue() );
+    return out.str();
+}
+
+template<>
+bool SOFA_CORE_API Data<Eigen::Matrix4f>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::Matrix4f>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::Matrix4f>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::Matrix4f>::print( out, getValue() );
+    return out.str();
+}
+
+template<>
+bool SOFA_CORE_API Data<Eigen::Matrix4d>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::Matrix4d>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::Matrix4d>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::Matrix4d>::print( out, getValue() );
+    return out.str();
+}
+
+template<>
+bool SOFA_CORE_API Data<Eigen::MatrixXi>::read( const std::string& str )
+{
+    std::istringstream in( str );
+    const bool ok = EigenMatrixDataIO<Eigen::MatrixXi>::read( in, *beginEdit() );
+    endEdit();
+    return ok;
+}
+
+template<>
+std::string SOFA_CORE_API Data<Eigen::MatrixXi>::getValueString() const
+{
+    std::ostringstream out;
+    EigenMatrixDataIO<Eigen::MatrixXi>::print( out, getValue() );
+    return out.str();
+}
+
+} // namespace sofa::core::objectmodel

Sofa/framework/Core/src/sofa/core/data/Data[Eigen].h

@@ -0,0 +1,70 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/core/objectmodel/Data.h>
+#include <Eigen/Dense>
+
+/// Support of Eigen matrices in sofa::core::objectmodel::Data.
+///
+/// The string format is "rows cols c00 c01 ... c(rows-1)(cols-1)": the
+/// dimensions, then the coefficients in row-major order, all separated by
+/// whitespaces. Reading resizes dynamic matrices to the given dimensions, so
+/// no pre-sized default value is needed; for fixed-size matrices the
+/// dimensions must match the compile-time sizes, otherwise the read fails.
+///
+/// Both directions are explicit specializations of Data<T>::read() and
+/// Data<T>::getValueString(), declared below and defined in Data[Eigen].cpp.
+/// No operator<< or operator>> is added to namespace
+///
+/// Note: a matrix type that is not listed below cannot be stored in a Data:
+/// the generic Data<T>::read() would be instantiated and fail to compile, as
+/// Eigen matrices have no stream operators.
+namespace sofa::core::objectmodel
+{
+template<> bool SOFA_CORE_API Data<Eigen::MatrixXf>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::MatrixXf>::getValueString() const;
+
+template<> bool SOFA_CORE_API Data<Eigen::MatrixXd>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::MatrixXd>::getValueString() const;
+
+template<> bool SOFA_CORE_API Data<Eigen::Matrix2f>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::Matrix2f>::getValueString() const;
+
+template<> bool SOFA_CORE_API Data<Eigen::Matrix2d>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::Matrix2d>::getValueString() const;
+
+template<> bool SOFA_CORE_API Data<Eigen::Matrix3f>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::Matrix3f>::getValueString() const;
+
+template<> bool SOFA_CORE_API Data<Eigen::Matrix3d>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::Matrix3d>::getValueString() const;
+
+template<> bool SOFA_CORE_API Data<Eigen::Matrix4f>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::Matrix4f>::getValueString() const;
+
+template<> bool SOFA_CORE_API Data<Eigen::Matrix4d>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::Matrix4d>::getValueString() const;
+
+template<> bool SOFA_CORE_API Data<Eigen::MatrixXi>::read( const std::string& str );
+template<> std::string SOFA_CORE_API Data<Eigen::MatrixXi>::getValueString() const;
+} // namespace sofa::core::objectmodel

Sofa/framework/Core/test/CMakeLists.txt

@@ -13,6 +13,7 @@ set(SOURCE_FILES
     objectmodel/BaseLink_test.cpp
     objectmodel/BaseObjectDescription_test.cpp
     objectmodel/Data_test.cpp
+    objectmodel/DataEigen_test.cpp
     objectmodel/DataLink_test.cpp
     objectmodel/DataFileName_test.cpp
     objectmodel/DataFileNameVector_test.cpp