1 // g2o - General Graph Optimization
2 // Copyright (C) 2014 R. Kuemmerle, G. Grisetti, W. Burgard
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // * Redistributions of source code must retain the above copyright notice,
10 // this list of conditions and the following disclaimer.
11 // * Redistributions in binary form must reproduce the above copyright
12 // notice, this list of conditions and the following disclaimer in the
13 // documentation and/or other materials provided with the distribution.
14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
16 // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
17 // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
18 // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
19 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
20 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
21 // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
22 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
23 // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
24 // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26
27 #ifndef G2O_CORE_IO_HELPER_H
28 #define G2O_CORE_IO_HELPER_H
29
30 #include <iosfwd>
31
32 namespace g2o {
33 namespace internal {
34 template <typename Derived>
writeVector(std::ostream & os,const Eigen::DenseBase<Derived> & b)35 bool writeVector(std::ostream& os, const Eigen::DenseBase<Derived>& b) {
36 for (int i = 0; i < b.size(); i++) os << b(i) << " ";
37 return os.good();
38 }
39
40 template <typename Derived>
readVector(std::istream & is,Eigen::DenseBase<Derived> & b)41 bool readVector(std::istream& is, Eigen::DenseBase<Derived>& b) {
42 for (int i = 0; i < b.size() && is.good(); i++) is >> b(i);
43 return is.good() || is.eof();
44 }
45 } // namespace internal
46 } // namespace g2o
47
48 #endif
49