[MERGE]

src/core/common/WProjectFileIO.cpp

@@ -77,3 +77,41 @@ void WProjectFileIO::addWarning( std::string description )
     m_warnings.push_back( description );
 }
 
+void WProjectFileIO::printProperties( std::ostream& output, boost::shared_ptr< WProperties > props, std::string indent, //NOLINT
+                                      std::string prefix, unsigned int index, std::string indexPrefix )
+{
+    // lock, unlocked if l looses focus
+    WProperties::PropertySharedContainerType::ReadTicket l = props->getProperties();
+
+    output << indent << "// Property Group: " << props->getName() << std::endl;
+
+    // iterate of them and print them to output
+    for( WProperties::PropertyConstIterator iter = l->get().begin(); iter != l->get().end(); ++iter )
+    {
+        // information properties do not get written
+        if( ( *iter )->getPurpose () == PV_PURPOSE_INFORMATION )
+        {
+            continue;
+        }
+        if( ( *iter )->getType() != PV_GROUP )
+        {
+            output << indent + "    " << "PROPERTY:(" << indexPrefix << index << "," << prefix + ( *iter )->getName() << ")="
+                   << ( *iter )->getAsString() << std::endl;
+        }
+        else
+        {
+            // it is a group -> recursively print it
+            if( prefix.empty() )
+            {
+                printProperties( output, ( *iter )->toPropGroup(), indent + "    ", ( *iter )->getName() + "/", index, indexPrefix );
+            }
+            else
+            {
+                printProperties( output, ( *iter )->toPropGroup(), indent + "    ", prefix + ( *iter )->getName() + "/", index, indexPrefix );
+            }
+        }
+    }
+
+    output << indent << "// Property Group END: " << props->getName() << std::endl;
+}
+

src/core/common/WProjectFileIO.h

@@ -29,6 +29,8 @@
 #include <string>
 #include <vector>
 
+#include "WProperties.h"
+
 /**
  * A base class for all parts of OpenWalnut which can be serialized to a project file. It is used by WProjectFile to actually parse the file line
  * by line. Derive from this class if you write your own parser and use it to fill your internal data structures. But write it in a very
@@ -117,6 +119,18 @@ protected:
      */
     void addWarning( std::string description );
 
+    /**
+     * Recursively prints the properties and nested properties.
+     *
+     * \param output    the output stream to print to
+     * \param props     the properties to recursively print
+     * \param indent    the indentation level
+     * \param prefix    the prefix (name prefix of property)
+     * \param index     the ID to use
+     * \param indexPrefix use this to add a prefix to the index
+     */
+    void printProperties( std::ostream& output, boost::shared_ptr< WProperties > props, std::string indent, //NOLINT ( non-const ref )
+                          std::string prefix, unsigned int index, std::string indexPrefix = "" );
 private:
     /**
      * List of errors if any.

src/core/common/WPropertyTypes.h

@@ -34,8 +34,8 @@
 #include <boost/filesystem.hpp>
 
 #include "WStringUtils.h"
-#include "math/linearAlgebra/WLinearAlgebra.h"
 #include "math/linearAlgebra/WMatrixFixed.h"
+#include "math/linearAlgebra/WPosition.h"
 #include "math/linearAlgebra/WVectorFixed.h"
 #include "math/WInterval.h"
 #include "WAssert.h"

src/core/common/WPropertyVariable.h

@@ -27,11 +27,9 @@
 
 #include <stdint.h>
 
-#include <iostream>
 #include <list>
 #include <set>
 #include <string>
-#include <vector>
 
 #include <boost/shared_ptr.hpp>
 #include <boost/signals2.hpp>

src/core/common/WThreadedJobs.h

@@ -25,14 +25,12 @@
 #ifndef WTHREADEDJOBS_H
 #define WTHREADEDJOBS_H
 
-#include <iostream>
 #include <string>
 
 #include <boost/shared_ptr.hpp>
 
 #include "WException.h"
 #include "WFlag.h"
-#include "WLogger.h"
 
 /**
  * \class WThreadedJobs

src/core/common/WThreadedRunnerSignals.h

@@ -33,11 +33,10 @@ class WException;
 /**
  * Enum of all possible signals WThreadedRunner instances can emit.
  */
-typedef enum
+enum THREAD_SIGNAL
 {
     WTHREAD_ERROR   // error during execution
-}
-THREAD_SIGNAL;
+};
 
 // **************************************************************************************************************************
 // Types

src/core/common/datastructures/WFiber.h

@@ -28,7 +28,7 @@
 #include <vector>
 
 #include "../math/WLine.h"
-#include "../math/linearAlgebra/WLinearAlgebra.h"
+#include "../math/linearAlgebra/WPosition.h"
 
 
 class WFiberTest;

src/core/common/datastructures/test/WFiber_test.h

@@ -30,7 +30,7 @@
 
 #include <cxxtest/TestSuite.h>
 
-#include "../../math/linearAlgebra/WLinearAlgebra.h"
+#include "../../math/linearAlgebra/WPosition.h"
 #include "../WFiber.h"
 #include "WFiberTraits.h"
 

src/core/common/math/WGeometryFunctions.h

@@ -30,7 +30,7 @@
 #include <vector>
 
 #include "../WAssert.h"
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WVectorFixed.h"
 
 namespace utility
 {

src/core/common/math/WLine.cpp

@@ -37,7 +37,8 @@
 #include "../WStringUtils.h"
 #include "WLine.h"
 #include "WPolynomialEquationSolvers.h"
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WPosition.h"
+#include "linearAlgebra/WVectorFixed.h"
 
 WLine::WLine( const std::vector< WPosition > &points )
     : WMixinVector< WPosition >( points )

src/core/common/math/WLine.h

@@ -25,14 +25,12 @@
 #ifndef WLINE_H
 #define WLINE_H
 
-#include <algorithm>
-#include <iostream>
 #include <vector>
 
 #include "../WBoundingBox.h"
 
 #include "../WMixinVector.h"
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WPosition.h"
 
 // forward declarations
 class WLineTest;

src/core/common/math/WLinearAlgebraFunctions.cpp

@@ -24,14 +24,12 @@
 
 #include <vector>
 
-#include <Eigen/SVD>
-
 #include "../WAssert.h"
 #include "../WLimits.h"
 
 #include "WLinearAlgebraFunctions.h"
 #include "WMatrix.h"
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WVectorFixed.h"
 
 WVector3d multMatrixWithVector3D( WMatrix<double> mat, WVector3d vec )
 {
@@ -292,34 +290,3 @@ bool linearIndependent( const WVector3d& u, const WVector3d& v )
     }
     return true;
 }
-
-void computeSVD( const WMatrix<double>& A,
-                        WMatrix<double>& U,
-                        WMatrix<double>& V,
-                        WValue<double>& S )
-{
-    Eigen::MatrixXd eigenA( A );
-    Eigen::JacobiSVD<Eigen::MatrixXd> svd( eigenA, Eigen::ComputeFullU | Eigen::ComputeFullV );
-    U = WMatrix<double>( svd.matrixU() );
-    V = WMatrix<double>( svd.matrixV() );
-    S = WValue<double>( svd.singularValues() );
-}
-
-WMatrix<double> pseudoInverse( const WMatrix<double>& input )
-{
-    // calc pseudo inverse
-    WMatrix<double> U( input.getNbRows(), input.getNbCols() );
-    WMatrix<double> V( input.getNbCols(), input.getNbCols() );
-    WValue<double> Svec( input.size() );
-    computeSVD( input, U, V, Svec );
-
-    // create diagonal matrix S
-    WMatrix<double> S( input.getNbCols(), input.getNbCols() );
-    S.setZero();
-    for( size_t i = 0; i < Svec.size() && i < S.getNbRows() && i < S.getNbCols(); i++ )
-    {
-        S( i, i ) = ( Svec[ i ] == 0.0 ) ? 0.0 : 1.0 / Svec[ i ];
-    }
-
-    return WMatrix<double>( V*S*U.transposed() );
-}

src/core/common/math/WLinearAlgebraFunctions.h

@@ -25,9 +25,11 @@
 #ifndef WLINEARALGEBRAFUNCTIONS_H
 #define WLINEARALGEBRAFUNCTIONS_H
 
+#include <Eigen/Core>
+#include <Eigen/SVD>
 
 #include "WMatrix.h"
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WPosition.h"
 
 template< typename > class WMatrix;
 
@@ -92,22 +94,60 @@ bool linearIndependent( const WVector3d& u, const WVector3d& v );
  *
  * A=U*S*V^T
  *
+ * \tparam T The data type.
  * \param A Input Matrix
  * \param U Output Matrix
  * \param S Output of the entries in the diagonal matrix
  * \param V Output Matrix
  *
  */
-void computeSVD( const WMatrix<double>& A, WMatrix<double>& U, WMatrix<double>& V, WValue<double>& S );
+template< typename T >
+void computeSVD( const WMatrix< T >& A, WMatrix< T >& U, WMatrix< T >& V, WValue< T >& S );
 
 /**
  * Calculates for a matrix the pseudo inverse.
  *
+ * \tparam T The data type.
  * \param input Matrix to invert
  *
  * \return Inverted Matrix
  *
  */
-WMatrix<double> pseudoInverse( const WMatrix<double>& input );
+template< typename T >
+WMatrix< T > pseudoInverse( const WMatrix< T >& input );
+
+
+template< typename T >
+void computeSVD( const WMatrix< T >& A,
+                 WMatrix< T >& U,
+                 WMatrix< T >& V,
+                 WValue< T >& S )
+{
+    Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > eigenA( A );
+    Eigen::JacobiSVD< Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > > svd( eigenA, Eigen::ComputeFullU | Eigen::ComputeFullV );
+    U = WMatrix< T >( svd.matrixU() );
+    V = WMatrix< T >( svd.matrixV() );
+    S = WValue< T >( svd.singularValues() );
+}
+
+template< typename T >
+WMatrix< T > pseudoInverse( const WMatrix< T >& input )
+{
+    // calc pseudo inverse
+    WMatrix< T > U( input.getNbRows(), input.getNbCols() );
+    WMatrix< T > V( input.getNbCols(), input.getNbCols() );
+    WValue< T > Svec( input.size() );
+    computeSVD( input, U, V, Svec );
+
+    // create diagonal matrix S
+    WMatrix< T > S( input.getNbCols(), input.getNbCols() );
+    S.setZero();
+    for( size_t i = 0; i < Svec.size() && i < S.getNbRows() && i < S.getNbCols(); i++ )
+    {
+        S( i, i ) = ( Svec[ i ] == 0.0 ) ? 0.0 : 1.0 / Svec[ i ];
+    }
+
+    return WMatrix< T >( V*S*U.transposed() );
+}
 
 #endif  // WLINEARALGEBRAFUNCTIONS_H

src/core/common/math/WMath.cpp

@@ -24,7 +24,8 @@
 
 #include "WMath.h"
 #include "WPlane.h"
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WPosition.h"
+#include "linearAlgebra/WVectorFixed.h"
 #include "../WAssert.h"
 #include "../WLimits.h"
 

src/core/common/math/WMath.h

@@ -31,7 +31,7 @@
 
 #include "WLine.h"
 #include "WPlane.h"
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WPosition.h"
 
 /**
  * Classes and functions of math module of OpenWalnut.

src/core/common/math/WMatrix.h

@@ -30,7 +30,8 @@
 #include <osg/Matrix>
 
 #include "WValue.h"
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WMatrixFixed.h"
+#include "linearAlgebra/WVectorFixed.h"
 
 #include "../WDefines.h"
 
@@ -79,6 +80,20 @@ public:
      */
     WMatrix( const Eigen::MatrixXd& newMatrix ); // NOLINT
 
+    /**
+     * Copies the specified Eigen::MatrixXf.
+     *
+     * \param newMatrix the Eigen::MatrixXf matrix to copy
+     */
+    WMatrix( const Eigen::MatrixXf& newMatrix ); // NOLINT
+
+    /**
+     * Copies the specified Eigen::MatrixXi.
+     *
+     * \param newMatrix the Eigen::MatrixXi matrix to copy
+     */
+    WMatrix( const Eigen::MatrixXi& newMatrix ); // NOLINT
+
     /**
      * Makes the matrix contain the identity matrix, i.e. 1 on the diagonal.
      * \return Reference to the current matrix which is identity matrix now.
@@ -130,11 +145,14 @@ public:
     operator osg::Matrixd() const;
 
     /**
-     * Cast this matrix to an Eigen::MatrixXd matrix.
+     * Cast this matrix to an Eigen::Matrix< EigenDataType, Eigen::Dynamic, Eigen::Dynamic >() matrix.
+     *
+     * \tparam EigenDataType Data type of Eigen matrix.
      *
      * \return casted matrix.
      */
-    operator Eigen::MatrixXd() const;
+    template< typename EigenDataType >
+    operator Eigen::Matrix< EigenDataType, Eigen::Dynamic, Eigen::Dynamic >() const;
 
     /**
      * Compares two matrices and returns true if they are equal.
@@ -210,6 +228,14 @@ public:
 
 protected:
 private:
+    /**
+     * This function is used by the constructors that have the different Eigen::MatrixX types as parameter.
+     * \tparam EigenDataType The data type which is used by the Eigen matrix.
+     * \param newMatrix The source matrix.
+     */
+    template< typename EigenDataType >
+    void copyFromEigenMatrix( const Eigen::Matrix< EigenDataType, Eigen::Dynamic, Eigen::Dynamic >& newMatrix );
+
     size_t m_nbCols; //!< Number of columns of the matrix. The number of rows will be computed by (size/m_nbCols).
 };
 
@@ -251,16 +277,20 @@ template< typename T > WMatrix< T >::WMatrix( const WMatrix4d& newMatrix )
 template< typename T > WMatrix< T >::WMatrix( const Eigen::MatrixXd& newMatrix )
     : WValue< T >( newMatrix.cols() * newMatrix.rows() )
 {
-    m_nbCols = static_cast< size_t >( newMatrix.cols() );
-    for( int row = 0; row < newMatrix.rows(); ++row )
-    {
-        for( int col = 0; col < newMatrix.cols(); ++col )
-        {
-            ( *this )( row, col ) = static_cast< T >( newMatrix( row, col ) );
-        }
-    }
+    copyFromEigenMatrix< double >( newMatrix );
 }
 
+template< typename T > WMatrix< T >::WMatrix( const Eigen::MatrixXf& newMatrix )
+    : WValue< T >( newMatrix.cols() * newMatrix.rows() )
+{
+    copyFromEigenMatrix< float >( newMatrix );
+}
+
+template< typename T > WMatrix< T >::WMatrix( const Eigen::MatrixXi& newMatrix )
+    : WValue< T >( newMatrix.cols() * newMatrix.rows() )
+{
+    copyFromEigenMatrix< int >( newMatrix );
+}
 
 template< typename T > WMatrix< T >::operator WMatrix4d() const
 {
@@ -301,19 +331,21 @@ template< typename T > WMatrix< T >::operator osg::Matrixd() const
     }
 }
 
-template< typename T > WMatrix< T >::operator Eigen::MatrixXd() const
+template< typename T >
+template< typename EigenDataType > WMatrix< T >::operator Eigen::Matrix< EigenDataType, Eigen::Dynamic, Eigen::Dynamic >() const
 {
-    Eigen::MatrixXd matrix( this->getNbRows(), this->getNbCols() );
+    Eigen::Matrix< EigenDataType, Eigen::Dynamic, Eigen::Dynamic > matrix( this->getNbRows(), this->getNbCols() );
     for( int row = 0; row < matrix.rows(); ++row )
     {
         for( int col = 0; col < matrix.cols(); ++col )
         {
-            matrix( row, col ) = ( *this )( row, col );
+            matrix( row, col ) = static_cast< EigenDataType >( ( *this )( row, col ) );
         }
     }
     return matrix;
 }
 
+
 /**
  * Makes the matrix contain the identity matrix, i.e. 1 on the diagonal.
  */
@@ -494,6 +526,20 @@ template< typename T > bool WMatrix< T >::isIdentity( T delta ) const
     return true;
 }
 
+template< typename T >
+template< typename EigenDataType >
+void WMatrix< T >::copyFromEigenMatrix( const Eigen::Matrix< EigenDataType, Eigen::Dynamic, Eigen::Dynamic >& newMatrix )
+{
+    m_nbCols = static_cast< size_t >( newMatrix.cols() );
+    for( int row = 0; row < newMatrix.rows(); ++row )
+    {
+        for( int col = 0; col < newMatrix.cols(); ++col )
+        {
+            ( *this )( row, col ) = static_cast< T >( newMatrix( row, col ) );
+        }
+    }
+}
+
 template< typename T >
 inline std::ostream& operator<<( std::ostream& os, const WMatrix< T >& m )
 {

src/core/common/math/WOSSIMHelper.h

@@ -27,7 +27,7 @@
 
 #ifdef OW_USE_OSSIM
     #include <algorithm>
-    #include <iostream>
+//    #include <iostream>
     #include <vector>
 
     #include <matrix/newmat.h>

src/core/common/math/WPlane.cpp

@@ -27,7 +27,7 @@
 #include <boost/shared_ptr.hpp>
 
 #include "../../common/math/WLinearAlgebraFunctions.h"
-#include "../../common/math/linearAlgebra/WLinearAlgebra.h"
+#include "../../common/math/linearAlgebra/WVectorFixed.h"
 #include "../../common/WAssert.h"
 #include "../../common/WLimits.h"
 

src/core/common/math/WPlane.h

@@ -31,7 +31,7 @@
 
 #include "../../dataHandler/WGridRegular3D.h"
 
-#include "linearAlgebra/WLinearAlgebra.h"
+#include "linearAlgebra/WVectorFixed.h"
 
 /**
  * Represents a plane with a normal vector and a position in space.

src/core/common/math/WPolynomialEquationSolvers.h

@@ -26,7 +26,6 @@
 #define WPOLYNOMIALEQUATIONSOLVERS_H
 
 #include <complex>
-#include <iostream>
 #include <sstream>
 #include <utility>