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https://github.com/wpilibsuite/allwpilib
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[wpimath] Add fmtlib formatter overloads for Eigen::Matrix and units (#3409)
This allows using Eigen matrices or units natively with fmt::format() or fmt::print().
This commit is contained in:
Tyler Veness
44
wpimath/src/main/native/include/frc/fmt/Eigen.h
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44
wpimath/src/main/native/include/frc/fmt/Eigen.h
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <fmt/format.h>
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#include "Eigen/Core"
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template <int Rows, int Cols, int... Args>
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struct fmt::formatter<Eigen::Matrix<double, Rows, Cols, Args...>> {
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char presentation = 'f';
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constexpr auto parse(fmt::format_parse_context& ctx) {
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auto it = ctx.begin(), end = ctx.end();
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if (it != end && (*it == 'f' || *it == 'e')) {
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presentation = *it++;
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}
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if (it != end && *it != '}') {
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throw fmt::format_error("invalid format");
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}
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return it;
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}
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template <typename FormatContext>
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auto format(const Eigen::Matrix<double, Rows, Cols, Args...>& mat,
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FormatContext& ctx) {
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auto out = ctx.out();
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for (int i = 0; i < Rows; ++i) {
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for (int j = 0; j < Cols; ++j) {
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out = fmt::format_to(out, " {:f}", mat(i, j));
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}
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if (i < Rows - 1) {
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out = fmt::format_to(out, "\n");
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}
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}
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return out;
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}
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};
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212
wpimath/src/main/native/include/frc/fmt/Units.h
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212
wpimath/src/main/native/include/frc/fmt/Units.h
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <fmt/format.h>
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#include "units/base.h"
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template <class Units, typename T, template <typename> class NonLinearScale>
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struct fmt::formatter<units::unit_t<Units, T, NonLinearScale>> {
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char presentation = 'f';
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constexpr auto parse(fmt::format_parse_context& ctx) {
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auto it = ctx.begin(), end = ctx.end();
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if (it != end && (*it == 'f' || *it == 'e')) {
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presentation = *it++;
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}
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if (it != end && *it != '}') {
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throw fmt::format_error("invalid format");
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}
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return it;
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}
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template <typename FormatContext>
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auto format(const units::unit_t<Units, T, NonLinearScale>& obj,
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FormatContext& ctx) {
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using BaseUnits =
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units::unit<std::ratio<1>,
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typename units::traits::unit_traits<Units>::base_unit_type>;
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auto out = ctx.out();
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out = fmt::format_to(out, "{}", units::convert<Units, BaseUnits>(obj()));
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::meter_ratio::num != 0) {
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out = fmt::format_to(out, " m");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::meter_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::meter_ratio::num != 1) {
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out = fmt::format_to(
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out, "^{}",
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units::traits::unit_traits<Units>::base_unit_type::meter_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::meter_ratio::den != 1) {
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out = fmt::format_to(
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out, "/{}",
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units::traits::unit_traits<Units>::base_unit_type::meter_ratio::den);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::kilogram_ratio::num != 0) {
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out = fmt::format_to(out, " kg");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::kilogram_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::kilogram_ratio::num != 1) {
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out = fmt::format_to(out, "^{}",
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units::traits::unit_traits<
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Units>::base_unit_type::kilogram_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::kilogram_ratio::den != 1) {
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out = fmt::format_to(out, "/{}",
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units::traits::unit_traits<
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Units>::base_unit_type::kilogram_ratio::den);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::second_ratio::num != 0) {
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out = fmt::format_to(out, " s");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::second_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::second_ratio::num != 1) {
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out = fmt::format_to(
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out, "^{}",
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units::traits::unit_traits<Units>::base_unit_type::second_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::second_ratio::den != 1) {
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out = fmt::format_to(
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out, "/{}",
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units::traits::unit_traits<Units>::base_unit_type::second_ratio::den);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::ampere_ratio::num != 0) {
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out = fmt::format_to(out, " A");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::ampere_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::ampere_ratio::num != 1) {
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out = fmt::format_to(
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out, "^{}",
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units::traits::unit_traits<Units>::base_unit_type::ampere_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::ampere_ratio::den != 1) {
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out = fmt::format_to(
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out, "/{}",
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units::traits::unit_traits<Units>::base_unit_type::ampere_ratio::den);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::kelvin_ratio::num != 0) {
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out = fmt::format_to(out, " K");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::kelvin_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::kelvin_ratio::num != 1) {
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out = fmt::format_to(
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out, "^{}",
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units::traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::kelvin_ratio::den != 1) {
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out = fmt::format_to(
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out, "/{}",
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units::traits::unit_traits<Units>::base_unit_type::kelvin_ratio::den);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::mole_ratio::num != 0) {
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out = fmt::format_to(out, " mol");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::mole_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::mole_ratio::num != 1) {
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out = fmt::format_to(
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out, "^{}",
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units::traits::unit_traits<Units>::base_unit_type::mole_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::mole_ratio::den != 1) {
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out = fmt::format_to(
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out, "/{}",
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units::traits::unit_traits<Units>::base_unit_type::mole_ratio::den);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::candela_ratio::num != 0) {
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out = fmt::format_to(out, " cd");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::candela_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::candela_ratio::num != 1) {
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out = fmt::format_to(out, "^{}",
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units::traits::unit_traits<
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Units>::base_unit_type::candela_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::candela_ratio::den != 1) {
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out = fmt::format_to(out, "/{}",
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units::traits::unit_traits<
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Units>::base_unit_type::candela_ratio::den);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::radian_ratio::num != 0) {
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out = fmt::format_to(out, " rad");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::radian_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::radian_ratio::num != 1) {
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out = fmt::format_to(
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out, "^{}",
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units::traits::unit_traits<Units>::base_unit_type::radian_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::radian_ratio::den != 1) {
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out = fmt::format_to(
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out, "/{}",
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units::traits::unit_traits<Units>::base_unit_type::radian_ratio::den);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::byte_ratio::num != 0) {
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out = fmt::format_to(out, " b");
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::byte_ratio::num != 0 &&
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units::traits::unit_traits<
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Units>::base_unit_type::byte_ratio::num != 1) {
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out = fmt::format_to(
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out, "^{}",
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units::traits::unit_traits<Units>::base_unit_type::byte_ratio::num);
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}
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if constexpr (units::traits::unit_traits<
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Units>::base_unit_type::byte_ratio::den != 1) {
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out = fmt::format_to(
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out, "/{}",
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units::traits::unit_traits<Units>::base_unit_type::byte_ratio::den);
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}
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return out;
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}
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};
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