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[wpimath] Support formatting more Eigen types (#4391)

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Added an Eigen::SparseMatrix formatter.

Also modified the Eigen::Matrix formatter to support Eigen::MatrixXd.
Eigen::MatrixXd sets both dimension template arguments to -1, so they
can't be used for iteration. rows() and cols() are now used instead.

rows() and cols() are constexpr for statically sized matrices, so
there's no performance loss there.
This commit is contained in:
Tyler Veness
2022-09-02 01:00:05 -07:00
committed by GitHub
parent c393b3b367
commit 0ef8a4e1df
2 changed files with 88 additions and 8 deletions
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31
wpimath/src/test/native/cpp/FormatterTest.cpp
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@@ -2,6 +2,8 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <vector>
#include <fmt/format.h>
#include "frc/fmt/Eigen.h"
@@ -10,12 +12,33 @@
#include "units/velocity.h"
TEST(FormatterTest, Eigen) {
Eigen::Matrix<double, 3, 2> A{{1.0, 2.0}, {3.0, 4.0}, {5.0, 6.0}};
Eigen::Matrix<double, 3, 2> A{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};
EXPECT_EQ(
" 1.000000 2.000000\n"
" 3.000000 4.000000\n"
" 5.000000 6.000000",
" 0.000000 1.000000\n"
" 2.000000 3.000000\n"
" 4.000000 5.000000",
fmt::format("{}", A));
Eigen::MatrixXd B{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};
EXPECT_EQ(
" 0.000000 1.000000\n"
" 2.000000 3.000000\n"
" 4.000000 5.000000",
fmt::format("{}", B));
Eigen::SparseMatrix<double> C{3, 2};
std::vector<Eigen::Triplet<double>> triplets;
triplets.emplace_back(0, 1, 1.0);
triplets.emplace_back(1, 0, 2.0);
triplets.emplace_back(1, 1, 3.0);
triplets.emplace_back(2, 0, 4.0);
triplets.emplace_back(2, 1, 5.0);
C.setFromTriplets(triplets.begin(), triplets.end());
EXPECT_EQ(
" 0.000000 1.000000\n"
" 2.000000 3.000000\n"
" 4.000000 5.000000",
fmt::format("{}", C));
}
TEST(FormatterTest, Units) {