C++ Vector::size方法代码示例

bool toiDynTree(const yarp::sig::Vector& yarpVector, VectorDynSize& iDynTreeVector)
{
    iDynTreeVector.resize(yarpVector.size());
    memcpy(iDynTreeVector.data(),yarpVector.data(),yarpVector.size()*sizeof(double));
    return true;

}

bool yarp::dev::FrameTransformClient::transformPose(const std::string &target_frame_id, const std::string &source_frame_id, const yarp::sig::Vector &input_pose, yarp::sig::Vector &transformed_pose)
{
    if (input_pose.size() != 6)
    {
        yError() << "sorry.. only 6 dimensional vector (3 axes + roll pith and yaw) allowed, dear friend of mine..";
        return false;
    }
    if (transformed_pose.size() != 6)
    {
        yWarning("FrameTransformClient::transformPose() performance warning: size transformed_pose should be 6, resizing");
        transformed_pose.resize(6, 0.0);
    }
    yarp::sig::Matrix m(4, 4);
    if (!getTransform(target_frame_id, source_frame_id, m))
    {
        yError() << "no transform found between source '" << target_frame_id << "' and target '" << source_frame_id << "'";
        return false;
    }
    FrameTransform t;
    t.transFromVec(input_pose[0], input_pose[1], input_pose[2]);
    t.rotFromRPY(input_pose[3], input_pose[4], input_pose[5]);
    t.fromMatrix(m * t.toMatrix());
    transformed_pose[0] = t.translation.tX;
    transformed_pose[1] = t.translation.tY;
    transformed_pose[2] = t.translation.tZ;

    yarp::sig::Vector rot;
    rot = t.getRPYRot();
    transformed_pose[3] = rot[0];
    transformed_pose[4] = rot[1];
    transformed_pose[5] = rot[2];
    return true;
}

bool LinearMean::setHyperparameters(const yarp::sig::Vector newHyperPar)
{
	if (newHyperPar.size()!=this->getNumberOfHyperparameters())
		return false;
    meanLinearHyperparam=newHyperPar.subVector(0, newHyperPar.size()-2);
    meanOffset=newHyperPar(newHyperPar.size()-1);
    return true;
}

bool toEigen(const yarp::sig::Vector & vec_yrp, Eigen::VectorXd & vec_eigen)
{
 if( vec_yrp.size() != vec_eigen.size() ) { vec_eigen.resize(vec_yrp.size()); }
    if( memcpy(vec_eigen.data(),vec_yrp.data(),sizeof(double)*vec_eigen.size()) != NULL ) {
        return true;
    } else {
        return false;
    }
}

void OpenSoT::tasks::velocity::Postural::setReference(const yarp::sig::Vector &x_desired,
                                                      const yarp::sig::Vector &xdot_desired)
{
    assert(x_desired.size() == _x_size);
    assert(xdot_desired.size() == _x_size);

    _x_desired = x_desired;
    _xdot_desired = xdot_desired;
    this->update_b();
}

bool isEqual(const yarp::sig::Vector& a, const yarp::sig::Vector& b, const double& tolerance)
{
    if (a.size() != b.size()) return false;

    for (size_t i = 0; i < a.size(); i++)
    {
        if (fabs(a[i] - b[i]) > tolerance)
        {
            return false;
        }
    }
    return true;
}

void MultiTaskLinearGPRLearner::setWeightsStandardDeviation(const yarp::sig::Vector& s) {
if( s.size() != this->getDomainCols() ) {
        throw std::runtime_error("MultiTaskLinearGPRLearner: wrong dimension of noise std deviation");
    }
    
    inv_Sigma_w = zeros(this->getDomainCols(),this->getDomainCols());
    
    for(unsigned i=0; i < s.size(); i++ ) {
        inv_Sigma_w(i,i) = 1/(s[i]*s[i]);
    }
    
    this->weight_prior_indefinite = false;
    
    this->reset();
}

    //---------------------------------------------------------
    bool yarpToEigenVector(const yarp::sig::Vector &yarpVector, Eigen::VectorXd &eigenVector)
    {
        if(yarpVector.size() == 0)
        {
            cout<<"ERROR: input vector is empty (yarpToEigenVector)"<<endl;
            return false;
        }

        //resize and fill eigen vector with yarp vector elements
        eigenVector.resize(yarpVector.size());
        for(unsigned int i = 0; i < yarpVector.size(); i++)
            eigenVector(i) = yarpVector(i);

        return true;
    };

/**
 * Some helper function for converting between Yarp,KDL and Eigen
 * matrix types.
 *
 */
bool toYarp(const KDL::Wrench & ft, yarp::sig::Vector & ft_yrp)
{
    if( ft_yrp.size() != 6 ) { ft_yrp.resize(6); }
    for(int i=0; i < 6; i++ ) {
        ft_yrp[i] = ft[i];
    }
}

/* Both ds and result should be of the same dimension */
bool TactileData::diff(TactileData &ds, yarp::sig::Vector &result, bool ifAbs)
{
	double *data = this->data();
	int size = this->size();
	//check if dimensions of two DataSample match (though it will be always ;) )
	if(ds.size() != size)
	{
		cout << "Dimensions do not match:   " << ds.size() << "   "  << size << endl;
		return false;
	}
	
	if(result.size() != size)
	{
		cout << "WARNING. Dimension of result vector is different. Reset it" << endl;
		result.resize(size);
	}
		
	if(ifAbs)
	{
		for(int i = 0; i < size; i++)
		{
			result[i] = std::fabs(data[i] - ds[i]);
			//result.push_back(this->data[i] - ds[i]);
		}
	}
	else
	{
		for(int i = 0; i < size; i++)
		{
			result[i] = data[i] - ds[i];
			//result.push_back(this->data[i] - ds[i]);
		}
	}
	return true;
}

bool RobotUtils::setReferenceSpeeds(const yarp::sig::Vector &maximum_velocity)
{
    assert(maximum_velocity.size() == this->getNumberOfJoints());

    if(!bodyIsInPositionMode()) {
        std::cout << "Trying to set reference speeds for the whole coman "
                  << "but the robot is not entirely in Position Mode";
        return false;
    }

    yarp::sig::Vector velocity_torso,
                      velocity_right_arm,
                      velocity_left_arm,
                      velocity_right_leg,
                      velocity_left_leg,
                      velocity_head;
    idynutils.fromIDynToRobot(maximum_velocity, velocity_torso, idynutils.torso);
    idynutils.fromIDynToRobot(maximum_velocity, velocity_right_arm, idynutils.right_arm);
    idynutils.fromIDynToRobot(maximum_velocity, velocity_left_arm, idynutils.left_arm);
    idynutils.fromIDynToRobot(maximum_velocity, velocity_right_leg, idynutils.right_leg);
    idynutils.fromIDynToRobot(maximum_velocity, velocity_left_leg, idynutils.left_leg);
    if(head.isAvailable) idynutils.fromIDynToRobot(maximum_velocity, velocity_head, idynutils.head);
    return  torso.setReferenceSpeeds(velocity_torso) &&
            right_arm.setReferenceSpeeds(velocity_right_arm) &&
            left_arm.setReferenceSpeeds(velocity_left_arm) &&
            right_leg.setReferenceSpeeds(velocity_right_leg) &&
            left_leg.setReferenceSpeeds(velocity_left_leg) &&
            (head.isAvailable || head.setReferenceSpeeds(velocity_head));
}

bool iDynTreetoYarp(const iDynTree::Wrench & iDynTreeWrench,yarp::sig::Vector & yarpVector)
{
    if( yarpVector.size() != 6 ) { yarpVector.resize(6); }
    memcpy(yarpVector.data(),iDynTreeWrench.getLinearVec3().data(),3*sizeof(double));
    memcpy(yarpVector.data()+3,iDynTreeWrench.getAngularVec3().data(),3*sizeof(double));
    return true;
}

//ANALOG SENSOR
int GazeboYarpJointSensorsDriver::read(yarp::sig::Vector &out)
{
    ///< \todo TODO in my opinion the reader should care of passing a vector of the proper dimension to the driver, but apparently this is not the case
    /*
    if( (int)jointsensors_data.size() != jointsensors_nr_of_channels ||
        (int)out.size() != jointsensors_nr_of_channels ) {
        return AS_ERROR;
    }
    */
    
    if( (int)jointsensors_data.size() != jointsensors_nr_of_channels ) {
        return AS_ERROR;
    }
   
    if( (int)out.size() != jointsensors_nr_of_channels ) {
        std::cout << " GazeboYarpJointSensorsDriver:read() warning : resizing input vector, this can probably be avoided" << std::endl;
        out.resize(jointsensors_nr_of_channels);
    }
      
    data_mutex.wait();
    out = jointsensors_data;
    data_mutex.post();
    
    return AS_OK;
}

bool YarptoiDynTree(const yarp::sig::Vector & yarpVector, iDynTree::Wrench & iDynTreeWrench)
{
    if( yarpVector.size() != 6 ) return false;
    memcpy(iDynTreeWrench.getLinearVec3().data(),yarpVector.data(),3*sizeof(double));
    memcpy(iDynTreeWrench.getAngularVec3().data(),yarpVector.data()+3,3*sizeof(double));
    return true;
}

void ObjectModelGrid::addContactPoint(const yarp::sig::Vector fingertipPosition){

    assert(fingertipPosition.size() == 3);
    cout << "Contact position: " << fingertipPosition.toString() << endl;
    _contactPoints.push_back(fingertipPosition);


}