WIP: add any class to mrpt

jolting · Oct 11, 2016 · 653021a · 653021a
1 parent 0dbaa3c
commit 653021a
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Showing 4 changed files with 71 additions and 23 deletions.
diff --git a/libs/base/include/mrpt/math/matrix_serialization.h b/libs/base/include/mrpt/math/matrix_serialization.h
@@ -30,15 +30,15 @@ namespace mrpt
 		/** Read operator from a CStream. The format is compatible with that of CMatrix & CMatrixD */
 		template <size_t NROWS,size_t NCOLS>
 		mrpt::utils::CStream &operator>>(mrpt::utils::CStream &in, CMatrixFixedNumeric<float,NROWS,NCOLS> & M) {
-			CMatrix &aux = boost::get<CMatrix>(in.ReadObject());
+			CMatrix &aux = mrpt::utils::any_cast<CMatrix>(in.ReadObject());
 			ASSERTMSG_(M.cols()==aux.cols() && M.rows()==aux.rows(), format("Size mismatch: deserialized is %ux%u, expected is %ux%u",(unsigned)aux.getRowCount(),(unsigned)aux.getColCount(),(unsigned)NROWS,(unsigned)NCOLS))
 			M = aux;
 			return in;
 		}
 		/** Read operator from a CStream. The format is compatible with that of CMatrix & CMatrixD */
 		template <size_t NROWS,size_t NCOLS>
 		mrpt::utils::CStream &operator>>(mrpt::utils::CStream &in, CMatrixFixedNumeric<double,NROWS,NCOLS> & M) {
-			const CMatrixD &aux = boost::get<CMatrixD>(in.ReadObject());
+			const CMatrixD &aux = mrpt::utils::any_cast<CMatrixD>(in.ReadObject());
 			ASSERTMSG_(M.cols()==aux.cols() && M.rows()==aux.rows(), format("Size mismatch: deserialized is %ux%u, expected is %ux%u",(unsigned)aux.getRowCount(),(unsigned)aux.getColCount(),(unsigned)NROWS,(unsigned)NCOLS))
 			M = aux;
 			return in;

diff --git a/libs/base/include/mrpt/poses/CPosePDFGaussian.h b/libs/base/include/mrpt/poses/CPosePDFGaussian.h
@@ -16,6 +16,7 @@ namespace mrpt
 {
 namespace poses
 {
+	class CPoint2DPDFGaussian;
 	/** Declares a class that represents a Probability Density  function (PDF) of a 2D pose \f$ p(\mathbf{x}) = [x ~ y ~ \phi ]^t \f$.
 	 *
 	 *   This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPosePDF for more details.

diff --git a/libs/base/include/mrpt/utils/CSerializable.h b/libs/base/include/mrpt/utils/CSerializable.h
@@ -9,32 +9,79 @@
 #ifndef  CSERIALIZABLE_H
 #define  CSERIALIZABLE_H
 
-#include <mrpt/utils/CObject.h>
-#include <mrpt/utils/TTypeName.h>
-#include <mrpt/utils/types_simple.h>
-#include <boost/variant.hpp>
-#include <mrpt/math/CMatrix.h>
-#include <mrpt/poses/CPoint2DPDFGaussian.h>
-#include <mrpt/poses/CPoint2D.h>
-#include <mrpt/poses/CPoses2DSequence.h>
-
 #if MRPT_HAS_MATLAB
 typedef struct mxArray_tag mxArray; //!< Forward declaration for mxArray (avoid #including as much as possible to speed up compiling)
 #endif
+#include <typeinfo>
+#include <memory>
 
 namespace mrpt
 {
 namespace utils
 {
-  typedef boost::variant<
-    mrpt::math::CMatrix,
-    mrpt::poses::CPoint2DPDFGaussian,
-    mrpt::poses::CPoint2D,
-    mrpt::math::TPolygon2D,
-    mrpt::math::TPolygon3D,
-    mrpt::poses::CPoses2DSequence,
-    mrpt::poses::CPose2D
-    > CSerializableOption;
+  class Any
+  {
+    class StorageBase
+    {
+    public:
+      virtual ~StorageBase(){}
+    };
+
+    template<class T>
+    class Storage : public StorageBase
+    {
+    public:
+      Storage(const T& t) :t(t) {}
+      Storage(T&& t) :t(t) {}
+      ~Storage() override{}
+      T t;
+    };
+
+  public:
+    Any() : valid(false), m_typeInfo(&typeid(nullptr)){}
+    ~Any(){}
+    template<class V>
+    Any(V&& v)
+    {
+      valid = true;
+      m_ptr.reset(new Storage<V>(v));
+      m_typeInfo = &typeid(V);
+    }
+    template<class V>
+    Any(const V& v)
+    {
+      valid = true;
+      m_ptr.reset(new Storage<V>(v));
+      m_typeInfo = &typeid(V);
+    }
+
+    const std::type_info& type() const
+    {
+      return *m_typeInfo;
+    }
+
+    template<class T>
+    T& get_unsafe()
+    {
+      return dynamic_cast<Storage<T>*>(m_ptr.get())->t;
+    }
+    template<class T>
+    const T& get_unsafe() const
+    {
+      return dynamic_cast<Storage<T>*>(m_ptr.get())->t;
+    }
+
+  private:
+    bool valid;
+    std::unique_ptr<StorageBase> m_ptr;
+    const std::type_info *m_typeInfo;
+  };
+  template<class V>V any_cast(const Any& operand)
+  {
+    //if(!valid || operand.type() != typeid(V))
+    // throw
+    return operand.get_unsafe<V>();
+  }
 }
 } // End of namespace
 

diff --git a/libs/base/include/mrpt/utils/CStream.h b/libs/base/include/mrpt/utils/CStream.h
@@ -157,13 +157,13 @@ namespace mrpt
 
 			/** Writes an object to the stream.
 			 */
-			void WriteObject( const CSerializableOption &o );
+			void WriteObject( const Any &o );
 
 			/** Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.
 			 * \exception std::exception On I/O error or undefined class.
 			 * \exception mrpt::utils::CExceptionEOF On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.
 			 */
-			CSerializableOption ReadObject();
+			Any ReadObject();
 
 			/** Write an object to a stream in the binary MRPT format. */
 			template <class T>
@@ -175,7 +175,7 @@ namespace mrpt
 			template <class T>
 			CStream& operator >> (T &obj)
 			{
-				obj = boost::get<T>(ReadObject());
+				obj = any_cast<T>(ReadObject());
 				return *this;
 			}