references.hpp

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//
// MIT License
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// Copyright (c) 2020 kylekrol
// Copyright (c) 2020 Pathfinder for Autonomous Navigation (PAN)
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#ifndef LIN_REFERENCES_HPP_
#define LIN_REFERENCES_HPP_

#include "core.hpp"
#include "references/diagonal_mapping_reference.hpp"
#include "references/diagonal_stream_reference.hpp"
#include "references/matrix_mapping_reference.hpp"
#include "references/matrix_stream_reference.hpp"
#include "references/vector_mapping_reference.hpp"
#include "references/vector_stream_reference.hpp"

#include <type_traits>

namespace lin {
namespace internal {

template <class C, class D, typename = void>
struct mapping_reference;

template <class C, class D>
using mapping_reference_t = typename mapping_reference<C, D>::type;

template <class C, class D>
struct mapping_reference<C, D, std::enable_if_t<conjunction<
    is_matrix<C>, have_same_elements<C, D>>::value>> {
  typedef MatrixMappingReference<D, C::Traits::rows, C::Traits::cols, C::Traits::max_rows, C::Traits::max_cols> type;
};

template <class C, class D>
struct mapping_reference<C, D, std::enable_if_t<conjunction<
    is_col_vector<C>, have_same_elements<C, D>>::value>> {
  typedef VectorMappingReference<D, C::VectorTraits::length, C::VectorTraits::max_length> type;
};

template <class C, class D>
struct mapping_reference<C, D, std::enable_if_t<conjunction<
    is_row_vector<C>, have_same_elements<C, D>>::value>> {
  typedef RowVectorMappingReference<D, C::VectorTraits::length, C::VectorTraits::max_length> type;
};

template <class C, class D, typename = void>
struct stream_reference;

template <class C, class D>
using stream_reference_t = typename stream_reference<C, D>::type;

template <class C, class D>
struct stream_reference<C, D, std::enable_if_t<conjunction<
    is_matrix<C>, have_same_elements<C, D>>::value>> {
  typedef MatrixStreamReference<D, C::Traits::rows, C::Traits::cols, C::Traits::max_rows, C::Traits::max_cols> type;
};

template <class C, class D>
struct stream_reference<C, D, std::enable_if_t<conjunction<
    is_col_vector<C>, have_same_elements<C, D>>::value>> {
  typedef VectorStreamReference<D, C::VectorTraits::length, C::VectorTraits::max_length> type;
};

template <class C, class D>
struct stream_reference<C, D, std::enable_if_t<conjunction<
    is_row_vector<C>, have_same_elements<C, D>>::value>> {
  typedef RowVectorStreamReference<D, C::VectorTraits::length, C::VectorTraits::max_length> type;
};
}  // namespace internal

template <class C, class D, typename =
    std::enable_if_t<internal::has_traits<C>::value>>
constexpr auto ref(internal::Mapping<D> &mapping, size_t i, size_t j) {
  return internal::mapping_reference_t<C, D>(mapping, i, j);
}

template <class C, class D, typename = std::enable_if_t<internal::conjunction<
    internal::has_traits<C>, internal::is_vector<C>>::value>>
constexpr auto ref(internal::Mapping<D> &mapping, size_t i, size_t j, size_t n) {
  return internal::mapping_reference_t<C, D>(mapping, i, j, n);
}

template <class C, class D, typename =
    std::enable_if_t<internal::has_traits<C>::value>>
constexpr auto ref(internal::Mapping<D> &mapping, size_t i, size_t j, size_t r, size_t c) {
  return internal::mapping_reference_t<C, D>(mapping, i, j, r, c);
}

template <class D>
constexpr auto col(internal::Mapping<D> &mapping, size_t j) {
  typedef typename D::Traits::elem_t Elem;
  constexpr size_t Rows = D::Traits::rows;
  constexpr size_t MaxRows = D::Traits::max_rows;
  typedef std::conditional_t<internal::is_row_vector<D>::value, Matrix<Elem, 1, 1>, Vector<Elem, Rows, MaxRows>> T;

  return ref<T>(mapping, 0, j, mapping.rows(), 1);
}

template <class D>
constexpr auto row(internal::Mapping<D> &mapping, size_t i) {
  typedef typename D::Traits::elem_t Elem;
  constexpr size_t Cols = D::Traits::cols;
  constexpr size_t MaxCols = D::Traits::max_cols;
  typedef std::conditional_t<internal::is_col_vector<D>::value, Matrix<Elem, 1, 1>, RowVector<Elem, Cols, MaxCols>> T;

  return ref<T>(mapping, i, 0, 1, mapping.cols());
}

template <class D, typename = std::enable_if_t<internal::conjunction<
    internal::is_matrix<D>, internal::is_square<D>>::value>>
constexpr auto diag(internal::Mapping<D> &mapping) {
  return internal::DiagonalMappingReference<D>(mapping);
}

template <class C, class D, typename =
    std::enable_if_t<internal::has_traits<C>::value>>
constexpr auto ref(internal::Stream<D> const &stream, size_t i, size_t j) {
  return internal::stream_reference_t<C, D>(stream, i, j);
}

template <class C, class D, typename = std::enable_if_t<internal::conjunction<
    internal::has_traits<C>, internal::is_vector<C>>::value>>
constexpr auto ref(internal::Stream<D> const &stream, size_t i, size_t j, size_t n) {
  return internal::stream_reference_t<C, D>(stream, i, j, n);
}

template <class C, class D, typename =
    std::enable_if_t<internal::has_traits<C>::value>>
constexpr auto ref(internal::Stream<D> const &stream, size_t i, size_t j, size_t r, size_t c) {
  return internal::stream_reference_t<C, D>(stream, i, j, r, c);
}

template <class D>
constexpr auto col(internal::Stream<D> const &stream, size_t j) {
  typedef typename D::Traits::elem_t Elem;
  constexpr size_t Rows = D::Traits::rows;
  constexpr size_t MaxRows = D::Traits::max_rows;
  typedef std::conditional_t<internal::is_row_vector<D>::value, Matrix<Elem, 1, 1>, Vector<Elem, Rows, MaxRows>> T;

  return ref<T>(stream, 0, j, stream.rows(), 1);
}

template <class D>
constexpr auto row(internal::Stream<D> const &stream, size_t i) {
  typedef typename D::Traits::elem_t Elem;
  constexpr size_t Cols = D::Traits::cols;
  constexpr size_t MaxCols = D::Traits::max_cols;
  typedef std::conditional_t<internal::is_col_vector<D>::value, Matrix<Elem, 1, 1>, RowVector<Elem, Cols, MaxCols>> T;

  return ref<T>(stream, i, 0, 1, stream.cols());
}

template <class D, typename = std::enable_if_t<internal::conjunction<
    internal::is_matrix<D>, internal::is_square<D>>::value>>
constexpr auto diag(internal::Stream<D> const &stream) {
  return internal::DiagonalStreamReference<D>(stream);
}
}  // namespace lin

#endif