vpSubMatrix.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Mask on a vpMatrix .
 */
 
#include <stdlib.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpMatrixException.h>
#include <visp3/core/vpSubMatrix.h>
 
BEGIN_VISP_NAMESPACE
vpSubMatrix::vpSubMatrix() : pRowNum(0), pColNum(0), parent(nullptr) { }

vpSubMatrix::vpSubMatrix(vpMatrix &m, const unsigned int &row_offset, const unsigned int &col_offset,
                         const unsigned int &nrows, const unsigned int &ncols)
  : pRowNum(0), pColNum(0), parent(nullptr)
{
  init(m, row_offset, col_offset, nrows, ncols);
}

void vpSubMatrix::init(vpMatrix &m, const unsigned int &row_offset, const unsigned int &col_offset,
                       const unsigned int &nrows, const unsigned int &ncols)
{
 
  if (!m.data) {
    throw(vpMatrixException(vpMatrixException::subMatrixError, "SubMatrix parent matrix is not allocated"));
  }
 
  if (((row_offset + nrows) <= m.getRows()) && ((col_offset + ncols) <= m.getCols())) {
    data = m.data;
    parent = &m;
    rowNum = nrows;
    colNum = ncols;
    pRowNum = m.getRows();
    pColNum = m.getCols();
 
    if (rowPtrs) {
      free(rowPtrs);
    }
 
    rowPtrs = (double **)malloc(nrows * sizeof(double *));
    for (unsigned int r = 0; r < nrows; ++r) {
      rowPtrs[r] = m.data + col_offset + ((r + row_offset) * pColNum);
    }
 
    dsize = pRowNum * pColNum;
  }
  else {
    throw(
      vpMatrixException(vpMatrixException::incorrectMatrixSizeError, "Submatrix cannot be contain in parent matrix"));
  }
}

void vpSubMatrix::checkParentStatus() const
{
  if (!data) {
    throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
                            "vpSubMatrix parent vpMatrix has been destroyed"));
  }
  if ((pRowNum != parent->getRows()) || (pColNum != parent->getCols())) {
    throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
                            "vpSubMatrix size of parent vpMatrix has been changed"));
  }
}

vpSubMatrix &vpSubMatrix::operator=(const vpMatrix &B)
{
 
  if ((colNum != B.getCols()) || (rowNum != B.getRows())) {
    throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
                            "vpSubMatrix mismatch in operator vpSubMatrix=vpMatrix"));
  }
 
  for (unsigned int i = 0; i < rowNum; ++i) {
    for (unsigned int j = 0; j < colNum; ++j) {
      rowPtrs[i][j] = B[i][j];
    }
  }
 
  return *this;
}

vpSubMatrix &vpSubMatrix::operator=(const vpSubMatrix &B)
{
 
  if ((colNum != B.getCols()) || (rowNum != B.getRows())) {
    throw(vpMatrixException(vpMatrixException::incorrectMatrixSizeError,
                            "vpSubMatrix mismatch in operator vpSubMatrix=vpMatrix"));
  }
 
  pRowNum = B.pRowNum;
  pColNum = B.pColNum;
  parent = B.parent;
 
  double **BrowPtrs = B.rowPtrs;
 
  for (unsigned int i = 0; i < rowNum; ++i) {
    for (unsigned int j = 0; j < colNum; ++j) {
      rowPtrs[i][j] = BrowPtrs[i][j];
    }
  }
 
  return *this;
}

vpSubMatrix &vpSubMatrix::operator=(const double &x)
{
  for (unsigned int i = 0; i < rowNum; ++i) {
    for (unsigned int j = 0; j < colNum; ++j) {
      rowPtrs[i][j] = x;
    }
  }
 
  return *this;
}
 
vpSubMatrix::~vpSubMatrix() { data = nullptr; }
END_VISP_NAMESPACE