Refactored and completed the from/toMatlab() wrappers

Completed the extension of the classes std::vector<double>,
std::vector<bool>, std::vector<int>, yarp::sig::Vector with
these wrappers.

bindings/macrosForMultipleAnalogSensors.i

@@ -4,7 +4,7 @@
 // This software may be modified and distributed under the terms of the
 // BSD-3-Clause license. See the accompanying LICENSE file for details.
 
-%define RESET_CONSTANTS
+%define RESET_CONSTANTS_IN_EXTENDED_ANALOG_SENSOR_INTERFACE
 #undef ThreeAxisGyroscopes_EXTENDED_INTERFACE
 #undef ThreeAxisLinearAccelerometers_EXTENDED_INTERFACE
 #undef ThreeAxisMagnetometers_EXTENDED_INTERFACE
@@ -18,7 +18,7 @@
 
 %define EXTENDED_ANALOG_SENSOR_INTERFACE(sensor)
 
-RESET_CONSTANTS
+RESET_CONSTANTS_IN_EXTENDED_ANALOG_SENSOR_INTERFACE
 
 #define sensor ## _EXTENDED_INTERFACE 1
 

bindings/matlab/vectors_fromTo_matlab.i

@@ -0,0 +1,108 @@
+// Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
+// All rights reserved.
+//
+// This software may be modified and distributed under the terms of the
+// BSD-3-Clause license. See the accompanying LICENSE file for details.
+
+%define RESET_CONSTANTS_IN_TO_MATLAB
+#undef mxCreateDoubleMatrixHasComplexFlagParam
+#undef mxCreateLogicalMatrixHasComplexFlagParam
+%enddef
+
+%define TO_MATLAB(matlabType,mxArrayInitializer)
+
+    // Convert to a Matlab vector
+    mxArray * toMatlab() const
+    {
+        // create Matlab vector and map it to pointer 'd'
+        size_t selfDim = self->size();
+        #if mxArrayInitializer ## HasComplexFlagParam
+          mxArray *p  = mxArrayInitializer(selfDim, 1, mxREAL);
+        #else
+          mxArray *p  = mxArrayInitializer(selfDim, 1);
+        #endif
+        matlabType* d = static_cast<matlabType*>(mxGetData(p));
+
+        // copy items from 'self' to 'd'
+        for(size_t i=0; i<selfDim; i++)
+        {
+            d[i] = static_cast<matlabType>(self->operator[](i));
+        }
+        return p;
+    }
+
+%enddef
+
+
+%define FROM_MATLAB(matlabType,cppType,mxArrayInitializer,vectorClass)
+
+    // Convert from a Matlab vector
+    void fromMatlab(mxArray * in)
+    {
+        // check size
+        const mwSize * dims = mxGetDimensions(in);
+        size_t selfDim = self->size();
+        size_t matlabVecDim = (dims[0] == 1 ? dims[1] : dims[0]);
+
+        if (matlabVecDim == selfDim)
+        {
+            // map Matlab vector to pointer 'd'
+            matlabType* d = static_cast<matlabType*>(mxGetData(in));
+
+            // copy items from 'd' to 'self'
+            for(size_t i=0; i<selfDim; i++)
+            {
+                self->operator[](i) = static_cast<cppType>(d[i]);
+            }
+            return;
+        } else {
+            mexErrMsgIdAndTxt("yarp::vectorClass::wrongDimension",
+              "Wrong vector size. Matlab size: %d. vectorClass size: %d", matlabVecDim, selfDim);
+        }
+    }
+
+%enddef
+
+
+%define RESET(resetValue)
+
+    // Reset values
+    void zero()
+    {
+        for(size_t i=0; i < self->size(); i++)
+        {
+            self->operator[](i) = resetValue;
+        }
+        return;
+    }
+
+%enddef
+
+RESET_CONSTANTS_IN_TO_MATLAB
+#define mxCreateDoubleMatrixHasComplexFlagParam 1
+
+%extend std::vector<double> {
+    TO_MATLAB(double,mxCreateDoubleMatrix)
+    FROM_MATLAB(double,double,mxCreateDoubleMatrix,DVector)
+    RESET(0)
+}
+
+%extend std::vector<bool> {
+    TO_MATLAB(bool,mxCreateLogicalMatrix)
+    FROM_MATLAB(bool,bool,mxCreateLogicalMatrix,BVector)
+    RESET(false)
+}
+
+%extend std::vector<int> {
+    TO_MATLAB(double,mxCreateDoubleMatrix)
+    FROM_MATLAB(double,int,mxCreateDoubleMatrix,IVector)
+    RESET(0)
+}
+
+%extend yarp::sig::Vector {
+    TO_MATLAB(double,mxCreateDoubleMatrix)
+    FROM_MATLAB(double,double,mxCreateDoubleMatrix,yarp::sig::Vector)
+    RESET(0)
+}
+
+RESET_CONSTANTS_IN_TO_MATLAB

bindings/yarp.i

@@ -460,7 +460,7 @@ MAKE_COMMS(Bottle)
 
   #ifdef SWIGMATLAB
     // Extend IVector for handling conversion of vectors from and to Matlab
-    %include "matlab/IVector_fromTo_matlab.i"
+    %include "matlab/vectors_fromTo_matlab.i"
   #endif
 
   #if defined(SWIGCSHARP)