demo_state_map.cpp

Go to the documentation of this file.

#include <tuw_control/state_map/state_map.hpp>

#include <iostream>

using namespace tuw;
using namespace std;

using TestDepth1 = StateMapVector<double, double>;
using TestDepth0 = StateMapVector<double, TestDepth1>;

using TestDepth1Arr = StateMapArray<double, double, 4>;
using TestDepth0Arr = StateMapArray<double, TestDepth1Arr, 3>;

using TestDepth0ArrVec = StateMapArray<double, TestDepth1, 3>;
using TestDepth0VecArr = StateMapVector<double, TestDepth1Arr>;

using TestTuple = StateMapTuple<double, TestDepth1Arr, TestDepth0Arr, TestDepth0Arr>;
using TestTuple2 = StateMapTuple<double, TestTuple, TestDepth0Arr, TestDepth1Arr>;

int main()
{
  TestTuple tup;
  //     tup.sub(0);
  cout << "isAllStaticUnder=" << tup.MapSize << endl;
  TestTuple2 tup2;
  cout << "isAllStaticUnder=" << tup2.MapSize << endl;
  TestDepth0Arr arr;
  cout << "isAllStaticUnder=" << arr.MapSize << endl;
  Eigen::Vector4d hellu(1., 2., 3., 4.);
  arr.sub(1).data() = hellu;
  cout << arr.data().transpose() << endl
       << endl;
  cout << arr.sub(0).data().transpose() << endl
       << endl;
  cout << arr.sub(1).data().transpose() << endl
       << endl;
  cout << arr.sub(2).data().transpose() << endl
       << endl;
  arr.sub<0>();
  TestDepth0ArrVec arrvec;
  cout << "isAllStaticUnder=" << arrvec.MapSize << endl;
  arrvec.sub(1).subResize(4);
  arrvec.sub(1).data() = hellu;
  cout << arrvec.data().transpose() << endl
       << endl;
  TestDepth0VecArr vecarr;
  cout << "isAllStaticUnder=" << vecarr.MapSize << endl;
  vecarr.subResize(4);
  vecarr.sub(1).data() = hellu;
  cout << vecarr.data().transpose() << endl
       << endl;

  TestDepth0 DerivedObjectTestDerived, DerivedObjectTestCTRP, DerivedObjectVirtual;

  TestDepth0& testDerived = DerivedObjectTestDerived;
  StateMapBaseCRTP<TestDepth0>& testBaseCRTP = DerivedObjectTestCTRP;
  StateMapBaseVirt<double>& testBaseVirtual = DerivedObjectVirtual;

  cout << endl
       << "Starting derived Test" << endl
       << endl;
  testDerived.subResize(5);
  testDerived.sub(1).subResize(5);
  for (int i = 0; i < testDerived.sub(1).data().rows(); ++i)
  {
    testDerived.sub(1).data()(i) = 9 - i;
  }
  testDerived.sub(1).subResize(3);
  testDerived.sub(0).subResize(2);
  for (int i = 0; i < testDerived.sub(0).data().rows(); ++i)
  {
    testDerived.sub(0).data()(i) = 1 + i;
  }
  cout << endl
       << "Starting baseCRTP Test" << endl
       << endl;
  testBaseCRTP.subResize(5);
  testBaseCRTP.sub(1).subResize(5);
  for (int i = 0; i < testBaseCRTP.sub(1).data().rows(); ++i)
  {
    testBaseCRTP.sub(1).data()(i) = 9 - i;
  }
  testBaseCRTP.sub(1).subResize(3);
  testBaseCRTP.sub(0).subResize(2);
  for (int i = 0; i < testBaseCRTP.sub(0).data().rows(); ++i)
  {
    testBaseCRTP.sub(0).data()(i) = 1 + i;
  }
  cout << endl
       << "Starting baseVirtual Test" << endl
       << endl;
  testBaseVirtual.subResize(5);
  testBaseVirtual.sub(1).subResize(5);
  for (int i = 0; i < testBaseVirtual.sub(1).data().rows(); ++i)
  {
    testBaseVirtual.sub(1).data()(i) = 9 - i;
  }
  testBaseVirtual.sub(1).subResize(3);
  testBaseVirtual.sub(0).subResize(2);
  for (int i = 0; i < testBaseVirtual.sub(0).data().rows(); ++i)
  {
    testBaseVirtual.sub(0).data()(i) = 1 + i;
  }

  cout << endl
       << endl;

  TestDepth0 bla;
  cout << "dataBuffer=" << bla.data().transpose() << endl;
  bla.subResize(5);
  cout << "dataBuffer=" << bla.data().transpose() << endl;
  bla.sub(1).subResize(5);
  cout << "dataBuffer=" << bla.data().transpose() << endl;
  for (int i = 0; i < bla.sub(1).data().rows(); ++i)
  {
    bla.sub(1).data()(i) = 9 - i;
  }
  cout << "dataBuffer=" << bla.data().transpose() << endl;
  bla.sub(1).subResize(3);
  cout << "dataBuffer=" << bla.data().transpose() << endl;
  bla.sub(0).subResize(2);
  cout << "dataBuffer=" << bla.data().transpose() << endl;
  for (int i = 0; i < bla.sub(0).data().rows(); ++i)
  {
    bla.sub(0).data()(i) = 1 + i;
  }
  cout << "dataBuffer=" << bla.data().transpose() << endl;
  cout << bla.data().rows() << endl;
  cout << bla.sub(0).data().rows() << endl;
  cout << bla.sub(1).data().rows() << endl
       << endl;

  cout << bla.data() << endl
       << endl;
  cout << bla.data().transpose() << endl
       << endl;
  cout << bla.sub(0).data() << endl
       << endl;
  cout << bla.sub(1).data() << endl
       << endl;

  cout << "isAllStaticUnder=" << bla.MapSize << endl;

  bla.sub(0).sub(0);
  testBaseCRTP.sub(0).sub(0);
  testBaseVirtual.sub(0).sub(0);

  return 0;
}