Array.h

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/Debug.h"
#include "carla/Exception.h"
#include "carla/sensor/SensorData.h"
 
#include <exception>
#include <iterator>
#include <type_traits>
 
namespace carla {
namespace sensor {
namespace data {
 
  /// Base class for all the sensor data consisting of an array of items.
  template <typename T>
  class Array : public SensorData {
  public:
 
    using value_type = T;
    using iterator = value_type *;
    using const_iterator = typename std::add_const<value_type>::type *;
    using reverse_iterator = std::reverse_iterator<iterator>;
    using const_reverse_iterator = std::reverse_iterator<const_iterator>;
    using size_type = size_t;
    using pointer = value_type *;
    using const_pointer = typename std::add_const<value_type>::type *;
    using reference = value_type &;
    using const_reference = typename std::add_const<value_type>::type &;
 
    iterator begin() {
      return reinterpret_cast<iterator>(_data.begin() + _offset);
    }
 
    const_iterator cbegin() const {
      return reinterpret_cast<const_iterator>(_data.begin() + _offset);
    }
 
    const_iterator begin() const {
      return cbegin();
    }
 
    iterator end() {
      return reinterpret_cast<iterator>(_data.end());
    }
 
    const_iterator cend() const {
      return reinterpret_cast<const_iterator>(_data.end());
    }
 
    const_iterator end() const {
      return cend();
    }
 
    reverse_iterator rbegin() {
      return reverse_iterator(begin());
    }
 
    const_reverse_iterator crbegin() const {
      return const_reverse_iterator(cbegin());
    }
 
    const_reverse_iterator rbegin() const {
      return crbegin();
    }
 
    reverse_iterator rend() {
      return reverse_iterator(end());
    }
 
    const_reverse_iterator crend() const {
      return const_reverse_iterator(cend());
    }
 
    const_reverse_iterator rend() const {
      return crend();
    }
 
    bool empty() const {
      return begin() == end();
    }
 
    size_type size() const {
      DEBUG_ASSERT(std::distance(begin(), end()) >= 0);
      return static_cast<size_type>(std::distance(begin(), end()));
    }
 
    value_type *data() {
      return begin();
    }
 
    const value_type *data() const {
      return begin();
    }
 
    reference operator[](size_type pos) {
      return data()[pos];
    }
 
    const_reference operator[](size_type pos) const {
      return data()[pos];
    }
 
    reference at(size_type pos) {
      if (!(pos < size())) {
        throw_exception(std::out_of_range("Array index out of range"));
      }
      return operator[](pos);
    }
 
    const_reference at(size_type pos) const {
      if (!(pos < size())) {
        throw_exception(std::out_of_range("Array index out of range"));
      }
      return operator[](pos);
    }
 
  protected:
 
    template <typename FuncT>
    explicit Array(RawData &&data, FuncT get_offset)
      : SensorData(data),
        _data(std::move(data)),
        _offset(get_offset(_data)) {
      DEBUG_ASSERT(_data.size() >= _offset);
      DEBUG_ASSERT((_data.size() - _offset) % sizeof(T) == 0u);
      DEBUG_ASSERT(begin() <= end());
    }
 
    explicit Array(size_t offset, RawData &&data)
      : Array(std::move(data), [offset](const RawData &) { return offset; }) {}
 
    const RawData &GetRawData() const {
      return _data;
    }
 
  private:
 
    RawData _data;
 
    const size_t _offset;
  };
 
} // namespace data
} // namespace sensor
} // namespace carla