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[wpimath] Generalize Eigen formatter (#5360)

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This commit is contained in:
Tyler Veness
2023-05-30 23:35:15 -07:00
committed by GitHub
parent 125f6ea101
commit a94a998002
2 changed files with 25 additions and 100 deletions
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119
wpimath/src/main/native/include/frc/fmt/Eigen.h
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@@ -4,120 +4,45 @@
#pragma once
#include <type_traits>
#include <fmt/format.h>
#include "Eigen/Core"
#include "Eigen/SparseCore"
/**
* Formatter for Eigen::Matrix<double, Rows, Cols>.
*
* @tparam Rows Number of rows.
* @tparam Cols Number of columns.
* @tparam Args Defaulted template arguments to Eigen::Matrix<>.
* Formatter for classes derived from Eigen::MatrixBase<Derived> or
* Eigen::SparseCompressedBase<Derived>.
*/
template <int Rows, int Cols, int... Args>
struct fmt::formatter<Eigen::Matrix<double, Rows, Cols, Args...>> {
/**
* Storage for format specifier.
*/
char presentation = 'f';
/**
* Format string parser.
*
* @param ctx Format string context.
*/
template <typename Derived, typename CharT>
struct fmt::formatter<
Derived, CharT,
std::enable_if_t<
std::is_base_of_v<Eigen::MatrixBase<Derived>, Derived> ||
std::is_base_of_v<Eigen::SparseCompressedBase<Derived>, Derived>,
void>> {
constexpr auto parse(fmt::format_parse_context& ctx) {
auto it = ctx.begin(), end = ctx.end();
if (it != end && (*it == 'f' || *it == 'e')) {
presentation = *it++;
}
if (it != end && *it != '}') {
throw fmt::format_error("invalid format");
}
return it;
return m_underlying.parse(ctx);
}
/**
* Writes out a formatted matrix.
*
* @tparam FormatContext Format string context type.
* @param mat Matrix to format.
* @param ctx Format string context.
*/
template <typename FormatContext>
auto format(const Eigen::Matrix<double, Rows, Cols, Args...>& mat,
FormatContext& ctx) {
auto format(const Derived& mat, fmt::format_context& ctx) const {
auto out = ctx.out();
for (int i = 0; i < mat.rows(); ++i) {
for (int j = 0; j < mat.cols(); ++j) {
out = fmt::format_to(out, " {:f}", mat(i, j));
for (int row = 0; row < mat.rows(); ++row) {
for (int col = 0; col < mat.cols(); ++col) {
out = fmt::format_to(out, " ");
out = m_underlying.format(mat.coeff(row, col), ctx);
}
if (i < mat.rows() - 1) {
out = fmt::format_to(out, "\n");
}
}
return out;
}
};
/**
* Formatter for Eigen::SparseMatrix<double>.
*
* @tparam Options Union of bit flags controlling the storage scheme.
* @tparam StorageIndex The type of the indices.
*/
template <int Options, typename StorageIndex>
struct fmt::formatter<Eigen::SparseMatrix<double, Options, StorageIndex>> {
/**
* Storage for format specifier.
*/
char presentation = 'f';
/**
* Format string parser.
*
* @param ctx Format string context.
*/
constexpr auto parse(fmt::format_parse_context& ctx) {
auto it = ctx.begin(), end = ctx.end();
if (it != end && (*it == 'f' || *it == 'e')) {
presentation = *it++;
}
if (it != end && *it != '}') {
throw fmt::format_error("invalid format");
}
return it;
}
/**
* Writes out a formatted matrix.
*
* @tparam FormatContext Format string context type.
* @param mat Matrix to format.
* @param ctx Format string context.
*/
template <typename FormatContext>
auto format(const Eigen::SparseMatrix<double, Options, StorageIndex>& mat,
FormatContext& ctx) {
auto out = ctx.out();
for (int i = 0; i < mat.rows(); ++i) {
for (int j = 0; j < mat.cols(); ++j) {
out = fmt::format_to(out, " {:f}", mat.coeff(i, j));
}
if (i < mat.rows() - 1) {
if (row < mat.rows() - 1) {
out = fmt::format_to(out, "\n");
}
}
return out;
}
private:
fmt::formatter<typename Derived::Scalar, CharT> m_underlying;
};