ScalarArray.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 <class SCALAR = double>
class ScalarArray : public DiscreteArray<SCALAR>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef std::vector<Eigen::Matrix<SCALAR, 1, 1>, Eigen::aligned_allocator<Eigen::Matrix<SCALAR, 1, 1>>> EigenTraj;

    ScalarArray(){};


    ScalarArray(size_t n, const SCALAR& value = SCALAR()) : DiscreteArray<SCALAR>(n, value){};

    ScalarArray(const ScalarArray& other) : DiscreteArray<SCALAR>(other){};

    ScalarArray(const std::vector<SCALAR>& arg) : DiscreteArray<SCALAR>()
    {
        for (size_t i = 0; i < arg.size(); i++)
            this->push_back(arg[i]);
    }

    virtual ~ScalarArray() {}
    void fromEigenTrajectory(const EigenTraj in)
    {
        for (auto el : in)
            this->push_back(el(0, 0));
    }

    EigenTraj toEigenTrajectory()
    {
        EigenTraj eigenTraj;
        for (size_t i = 0; i < this->size(); i++)
        {
            Eigen::Matrix<SCALAR, 1, 1> newElement;
            newElement(0, 0) = (*this)[i];
            eigenTraj.push_back(newElement);
        }
        return eigenTraj;
    }

private:
};
}
}