[cuda] More CUDA capabilities for DeviceVector

cuda/include/rtac_base/cuda/DeviceVector.h

@@ -8,10 +8,15 @@
 
 #include <rtac_base/cuda/utils.h>
 #include <rtac_base/types/SharedVector.h>
+
 #ifndef RTAC_CUDACC
 #include <rtac_base/types/common.h>
 #endif
 
+#ifdef RTAC_CUDACC
+#include <thrust/device_ptr.h>
+#endif
+
 
 namespace rtac { namespace cuda {
 
@@ -72,6 +77,21 @@ class DeviceVector
     iterator end();
     const_iterator begin() const;
     const_iterator end() const;
+
+    #ifdef RTAC_CUDACC  // the following methods are only usable in CUDA code.
+    value_type& operator[](size_t idx);
+    const value_type& operator[](size_t idx) const;
+
+    value_type& front();
+    const value_type& front() const;
+    value_type& back();
+    const value_type& back() const;
+
+    thrust::device_ptr<T>       begin_thrust();
+    thrust::device_ptr<T>       end_thrust();
+    thrust::device_ptr<const T> begin_thrust() const;
+    thrust::device_ptr<const T> end_thrust() const;
+    #endif
 };
 template <typename T>
 using SharedDeviceVector = rtac::types::SharedVectorBase<DeviceVector<T>>;
@@ -253,6 +273,68 @@ const_iterator DeviceVector<T>::end() const
     return data_ + size_;
 }
 
+#ifdef RTAC_CUDACC
+template <typename T> typename DeviceVector<T>::
+value_type& DeviceVector<T>::operator[](size_t idx)
+{
+    return data_[idx];
+}
+
+template <typename T> const typename DeviceVector<T>::
+value_type& DeviceVector<T>::operator[](size_t idx) const
+{
+    return data_[idx];
+}
+
+template <typename T> typename DeviceVector<T>::
+value_type& DeviceVector<T>::front()
+{
+    return data_[0];
+}
+
+template <typename T> const typename DeviceVector<T>::
+value_type& DeviceVector<T>::front() const
+{
+    return data_[0];
+}
+
+template <typename T> typename DeviceVector<T>::
+value_type& DeviceVector<T>::back()
+{
+    return data_[this->size() - 1];
+}
+
+template <typename T> const typename DeviceVector<T>::
+value_type& DeviceVector<T>::back() const
+{
+    return data_[this->size() - 1];
+}
+
+template <typename T>
+thrust::device_ptr<T> DeviceVector<T>::begin_thrust()
+{
+    return thrust::device_pointer_cast(data_);
+}
+
+template <typename T>
+thrust::device_ptr<T> DeviceVector<T>::end_thrust()
+{
+    return thrust::device_pointer_cast(data_ + size_);
+}
+
+template <typename T>
+thrust::device_ptr<const T> DeviceVector<T>::begin_thrust() const
+{
+    return thrust::device_pointer_cast(data_);
+}
+
+template <typename T>
+thrust::device_ptr<const T> DeviceVector<T>::end_thrust() const
+{
+    return thrust::device_pointer_cast(data_ + size_);
+}
+#endif //RTAC_CUDACC
+
 }; //namespace cuda
 }; //namespace rtac