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Add eigen support #67

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4f673ff
(feat) add oveloads of LogChannel::registerValue for Eigen::VectorXd
Jan 20, 2026
f7f6645
(feat) add constructor of ValuePtr for Eigen::VectorXd
Jan 20, 2026
9a6dd66
(feat) add CMake Eigen build support with #ifdefs in hpps
Jan 22, 2026
d96649d
(fix) add missing target into cmake command
Jan 22, 2026
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27 changes: 27 additions & 0 deletions data_tamer_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,17 @@ if (DATA_TAMER_BUILD_ROS)
endif()
endif()

option(DATA_TAMER_EIGEN_SUPPORT "Enable Eigen support" ON)
if (DATA_TAMER_EIGEN_SUPPORT)
find_package(Eigen3 QUIET)
if (NOT Eigen3_FOUND)
set(DATA_TAMER_EIGEN_SUPPORT FALSE)
message(WARNING "Eigen3 not found, building without Eigen support. Set DATA_TAMER_EIGEN_SUPPORT to false to disable this warning.")
else()
message(STATUS "Eigen3 found, building with Eigen support.")
endif()
endif()

###########################################
# check if mcap can be found. If true,
# probably we used conan. If false, build from 3rdparty
Expand Down Expand Up @@ -95,6 +106,7 @@ target_include_directories(data_tamer
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
)
target_compile_definitions(data_tamer PUBLIC -DDATA_TAMER_VERSION="${CMAKE_PROJECT_VERSION}")
target_compile_definitions(data_tamer PUBLIC DATA_TAMER_EIGEN_SUPPORT=$<BOOL:${DATA_TAMER_EIGEN_SUPPORT}>)

set(INSTALL_TARGETS data_tamer)

Expand Down Expand Up @@ -125,18 +137,33 @@ if (DATA_TAMER_BUILD_ROS)
${MCAP_LIBRARY}
)

if (DATA_TAMER_EIGEN_SUPPORT)
target_link_libraries(data_tamer PUBLIC Eigen3::Eigen)
endif()

ament_export_targets(data_tamerTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(mcap_vendor rclcpp rclcpp_lifecycle data_tamer_msgs)
if (DATA_TAMER_EIGEN_SUPPORT)
ament_export_dependencies(Eigen3)
endif()

ament_package()

elseif( USE_VENDORED_MCAP )
target_include_directories(data_tamer PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/mcap/include> )
target_link_libraries(data_tamer PRIVATE mcap_lib)
if (DATA_TAMER_EIGEN_SUPPORT)
target_link_libraries(data_tamer PUBLIC Eigen3::Eigen)
endif()

list(APPEND INSTALL_TARGETS mcap_lib)
else()
find_package(mcap REQUIRED)
target_link_libraries(data_tamer PRIVATE mcap::mcap)
if (DATA_TAMER_EIGEN_SUPPORT)
target_link_libraries(data_tamer PUBLIC Eigen3::Eigen)
endif()
endif()

install(
Expand Down
21 changes: 19 additions & 2 deletions data_tamer_cpp/include/data_tamer/channel.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,10 @@
#include <chrono>
#include <memory>

#if DATA_TAMER_EIGEN_SUPPORT
#include <Eigen/Dense>
#endif

namespace DataTamer
{
using SerializeMe::has_TypeDefinition;
Expand Down Expand Up @@ -86,8 +90,9 @@ class LogChannel : public std::enable_shared_from_this<LogChannel>
* @param value pointer to the vectors of values.
* @return the ID to be used to unregister or enable/disable the values.
*/
template <template <class, class> class Container, class T, class... TArgs,
std::enable_if_t<!has_TypeDefinition<Container<T, TArgs...>>::value, bool> = true>
template <
template <class, class> class Container, class T, class... TArgs,
std::enable_if_t<!has_TypeDefinition<Container<T, TArgs...>>::value, bool> = true>
RegistrationID registerValue(const std::string& name,
const Container<T, TArgs...>* value);

Expand All @@ -104,6 +109,10 @@ class LogChannel : public std::enable_shared_from_this<LogChannel>
std::enable_if_t<!has_TypeDefinition<std::array<T, N>>::value, bool> = true>
RegistrationID registerValue(const std::string& name, const std::array<T, N>* value);

#if DATA_TAMER_EIGEN_SUPPORT
RegistrationID registerValue(const std::string& prefix, const Eigen::VectorXd* value);
#endif

/**
* @brief registerCustomValue should be used when you want to "bypass" the serialization
* provided by DataTamer and use your own.
Expand Down Expand Up @@ -325,6 +334,14 @@ inline RegistrationID LogChannel::registerValue(const std::string& prefix,
}
}

#if DATA_TAMER_EIGEN_SUPPORT
inline RegistrationID LogChannel::registerValue(const std::string& prefix,
const Eigen::VectorXd* value)
{
return registerValueImpl(prefix, ValuePtr(value), {});
}
#endif

template <typename T>
inline std::shared_ptr<LoggedValue<T>>
LogChannel::createLoggedValue(std::string const& name, T initial_value)
Expand Down
50 changes: 44 additions & 6 deletions data_tamer_cpp/include/data_tamer/values.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,9 @@
#include "data_tamer/custom_types.hpp"
#include "data_tamer/contrib/SerializeMe.hpp"

#if DATA_TAMER_EIGEN_SUPPORT
#include <Eigen/Dense>
#endif
namespace DataTamer
{
using SerializeMe::has_TypeDefinition;
Expand All @@ -23,12 +26,14 @@ class ValuePtr
template <typename T, bool = true>
ValuePtr(const T* pointer, CustomSerializer::Ptr type_info = {});

template <template <class, class> class Container, class T, class... TArgs,
std::enable_if_t<!has_TypeDefinition<Container<T, TArgs...>>::value, bool> = true>
template <
template <class, class> class Container, class T, class... TArgs,
std::enable_if_t<!has_TypeDefinition<Container<T, TArgs...>>::value, bool> = true>
ValuePtr(const Container<T, TArgs...>* vect);

template <template <class, class> class Container, class T, class... TArgs,
std::enable_if_t<!has_TypeDefinition<Container<T, TArgs...>>::value, bool> = true>
template <
template <class, class> class Container, class T, class... TArgs,
std::enable_if_t<!has_TypeDefinition<Container<T, TArgs...>>::value, bool> = true>
ValuePtr(const Container<T, TArgs...>* vect, CustomSerializer::Ptr type_info);

template <typename T, size_t N,
Expand All @@ -39,6 +44,10 @@ class ValuePtr
std::enable_if_t<!has_TypeDefinition<std::array<T, N>>::value, bool> = true>
ValuePtr(const std::array<T, N>* vect, CustomSerializer::Ptr type_info);

#if DATA_TAMER_EIGEN_SUPPORT
ValuePtr(const Eigen::VectorXd* vect);
#endif

ValuePtr(ValuePtr const& other) = delete;
ValuePtr& operator=(ValuePtr const& other) = delete;

Expand Down Expand Up @@ -144,7 +153,8 @@ inline ValuePtr::ValuePtr(const Container<T, TArgs...>* vect,
};
}

template <typename T, size_t N, std::enable_if_t<!has_TypeDefinition<std::array<T, N>>::value, bool>>
template <typename T, size_t N,
std::enable_if_t<!has_TypeDefinition<std::array<T, N>>::value, bool>>
inline ValuePtr::ValuePtr(const std::array<T, N>* array)
: v_ptr_(array)
, type_(GetBasicType<T>())
Expand All @@ -158,7 +168,8 @@ inline ValuePtr::ValuePtr(const std::array<T, N>* array)
get_size_impl_ = [array]() { return SerializeMe::BufferSize(*array); };
}

template <typename T, size_t N, std::enable_if_t<!has_TypeDefinition<std::array<T, N>>::value, bool>>
template <typename T, size_t N,
std::enable_if_t<!has_TypeDefinition<std::array<T, N>>::value, bool>>
inline ValuePtr::ValuePtr(const std::array<T, N>* array, CustomSerializer::Ptr type_info)
: v_ptr_(array)
, type_(GetBasicType<T>())
Expand Down Expand Up @@ -186,6 +197,33 @@ inline ValuePtr::ValuePtr(const std::array<T, N>* array, CustomSerializer::Ptr t
};
}

#if DATA_TAMER_EIGEN_SUPPORT
inline ValuePtr::ValuePtr(const Eigen::VectorXd* vect)
: v_ptr_(vect)
, type_(GetBasicType<double>()) // element type
, type_index_(typeid(Eigen::VectorXd)) // identifies the "container type"
, memory_size_(sizeof(double)) // element size (consistent with containers)
, is_vector_(true)
{
serialize_impl_ = [vect](SerializeMe::SpanBytes& buffer) -> void {
const uint32_t n = static_cast<uint32_t>(vect->size());
SerializeMe::SerializeIntoBuffer(buffer, n);

// contiguous block of doubles
const size_t bytes = static_cast<size_t>(n) * sizeof(double);
if(bytes > 0)
{
std::memcpy(buffer.data(), vect->data(), bytes);
buffer.trimFront(bytes);
}
};

get_size_impl_ = [vect]() -> size_t {
return sizeof(uint32_t) + static_cast<size_t>(vect->size()) * sizeof(double);
};
}
#endif

inline bool ValuePtr::operator==(const ValuePtr& other) const
{
return type_ == other.type_ && type_index_ == other.type_index_ &&
Expand Down