write_csv.h

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// Copyright (C) 2021 Christian Brommer, Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the author at <christian.brommer@ieee.org>
 
#ifndef WRITE_CSV_H
#define WRITE_CSV_H
 
#include <Eigen/Dense>
#include <iostream>
#include <sstream>
 
namespace mars
{
class WriteCsv
{
public:
  inline static std::string vec_to_csv(const Eigen::VectorXd& a)
  {
    std::stringstream os;
    for (int k = 0; k < a.size(); k++)
    {
      os << ", " << a(k);
    }
    return os.str();
  }
 
  inline static std::string cov_mat_to_csv(const Eigen::MatrixXd& cov)
  {
    if (cov.rows() != cov.cols())
    {
      std::cout << "Cov Mat to CSV: Cov matrix non-squared. No line written." << std::endl;
      return std::string("");
    }
 
    std::stringstream os;
    const int num_cov_state = static_cast<int>(cov.rows());
 
    for (int k = 0; k < num_cov_state; k++)
    {
      int row_count = k * num_cov_state + k;
      int col_count = num_cov_state - k;  // Size relative to row_count
      os << vec_to_csv(Eigen::Map<const Eigen::VectorXd>(cov.data() + row_count, col_count));
    }
 
    return os.str();
  }
 
  static std::string get_cov_header_string(const int& num_states)
  {
    std::stringstream os;
 
    const std::string var("p_");
    for (int row = 1; row <= num_states; row++)
    {
      for (int col = row; col <= num_states; col++)
      {
        os << ", " << var << row << "_" << col;
      }
    }
 
    return os.str();
  }
};
}  // namespace mars
 
#endif  // WRITE_CSV_H