ArrayInput.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/elements.h>
 
#include <mc_rbdyn/rpy_utils.h>
 
namespace mc_rtc::gui
{
 
namespace details
{
 
template<typename GetT, typename SetT>
struct ArrayInputImpl : public CommonInputImpl<GetT, SetT>
{
  static constexpr auto type = Elements::ArrayInput;
 
  ArrayInputImpl(const std::string & name, GetT get_fn, SetT set_fn) : ArrayInputImpl(name, {}, get_fn, set_fn) {}
 
  ArrayInputImpl(const std::string & name, const std::vector<std::string> & labels, GetT get_fn, SetT set_fn)
  : CommonInputImpl<GetT, SetT>::CommonInputImpl(name, get_fn, set_fn), labels_(labels)
  {
  }
 
  static constexpr size_t write_size() { return CommonInputImpl<GetT, SetT>::write_size() + 1; }
 
  void write(mc_rtc::MessagePackBuilder & writer)
  {
    CommonInputImpl<GetT, SetT>::write(writer);
    writer.write(labels_);
  }
 
  ArrayInputImpl() {}
 
private:
  std::vector<std::string> labels_;
};
 
} // namespace details
 
template<typename GetT, typename SetT>
auto ArrayInput(const std::string & name, GetT get_fn, SetT set_fn)
{ return details::ArrayInputImpl(name, get_fn, set_fn); }
 
template<typename GetT, typename SetT>
auto ArrayInput(const std::string & name, const std::vector<std::string> & labels, GetT get_fn, SetT set_fn)
{ return details::ArrayInputImpl(name, labels, get_fn, set_fn); }
 
template<typename T>
auto ArrayInput(const std::string & name, const std::vector<std::string> & labels, T & value)
{ return details::ArrayInputImpl(name, labels, details::read(value), details::write(value)); }
 
template<typename T>
auto ArrayInput(const std::string & name, T & value)
{
  using Labels = details::Labels<std::decay_t<T>>;
  auto read = details::read(value);
  auto write = details::write(value);
  if constexpr(Labels::has_labels) { return ArrayInput(name, Labels::labels, read, write); }
  else
  {
    return ArrayInput(name, read, write);
  }
}
 
template<bool Degrees = true, typename T>
auto RPYInput(const std::string & name, T & value)
{
  return ArrayInput(name, details::RPYLabels<Degrees>::labels, details::read_rpy<Degrees>(value),
                    [&value](const Eigen::Vector3d & rpy)
                    {
                      if constexpr(Degrees) { value = mc_rbdyn::rpyToMat(rpy * mc_rtc::constants::PI / 180.); }
                      else
                      {
                        value = mc_rbdyn::rpyToMat(rpy);
                      }
                    });
}
 
} // namespace mc_rtc::gui