ArrayHelpers.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include "DiscreteArray.h"

namespace ct {
namespace core {

template <typename EIGEN_VECTOR_ARRAY_TYPE_IN, typename SCALAR = double>
DiscreteArray<Eigen::Matrix<SCALAR, -1, -1>> transposeArray(const EIGEN_VECTOR_ARRAY_TYPE_IN& array)
{
    // some runtime tests
    if (array.front().cols() != 1)
    {
        throw std::runtime_error(
            "ct::core::transposeArray() called with invalid type. Eigen types in array must be vectors (no matrices "
            "allowed).");
    }

    size_t rows_in = array.front().rows();
    size_t cols_in = array.size();

    DiscreteArray<Eigen::Matrix<SCALAR, -1, -1>> result;

    for (size_t j = 0; j < rows_in; j++)
    {
        Eigen::Matrix<SCALAR, -1, -1> newVec(cols_in, 1);

        for (size_t i = 0; i < cols_in; i++)
        {
            newVec(i, 0) = array[i](j);
        }
        result.push_back(newVec);
    }
    return result;
}

} /* namespace core */
} /* namespace ct */