secure_matrix.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <algorithm>
#include <string>
 
#include "Eigen/Dense"
 
namespace apollo {
namespace perception {
namespace algorithm {
 
template <typename T>
class SecureMat {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
 public:
  SecureMat() { Reserve(max_height_, max_width_); }
 
  size_t height() { return height_; }
  size_t width() { return width_; }
 
  /* @brief: reserve memory of SecureMat
   * @params[IN] reserve_height: height of reserve memory
   * @params[IN] reserve_width: width of reserve memory
   */
  void Reserve(const size_t reserve_height, const size_t reserve_width) {
    max_height_ = std::max(reserve_height, max_height_);
    max_width_ = std::max(reserve_width, max_width_);
    mat_.resize(max_height_, max_width_);
  }
 
  /* @brief: resize memory of SecureMat
   * @params[IN] resize_height: height of resize memory
   * @params[IN] resize_width: width of resize memory
   * @return nothing */
  void Resize(const size_t resize_height, const size_t resize_width) {
    height_ = resize_height;
    width_ = resize_width;
    if (resize_height <= max_height_ && resize_width <= max_width_) {
      return;
    }
    max_height_ = std::max(resize_height, max_height_);
    max_width_ = std::max(resize_width, max_width_);
    mat_.resize(max_height_, max_width_);
  }
 
  std::string ToString() const {
    std::ostringstream oss;
    for (size_t row = 0; row < height_; ++row) {
      for (size_t col = 0; col < width_; ++col) {
        oss << mat_(row, col) << "\t";
      }
      oss << "\n";
    }
    return oss.str();
  }
 
  inline const T& operator()(const size_t row, const size_t col) const {
    return mat_(row, col);
  }
 
  inline T& operator()(const size_t row, const size_t col) {
    return mat_(row, col);
  }
 
 private:
  Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> mat_;
  size_t max_height_ = 1000;
  size_t max_width_ = 1000;
  size_t height_ = 0;
  size_t width_ = 0;
};  // class SecureMat
 
}  // namespace algorithm
}  // namespace perception
}  // namespace apollo