mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
91cbcea841
Concepts are cleaner to use and result in much better error messages for incorrect template use.
45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
// 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 <wpi/concepts.h>
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#include "Eigen/Core"
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#include "Eigen/SparseCore"
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/**
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* Formatter for classes derived from Eigen::MatrixBase<Derived> or
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* Eigen::SparseCompressedBase<Derived>.
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*/
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template <typename Derived, typename CharT>
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requires std::derived_from<Derived, Eigen::MatrixBase<Derived>> ||
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std::derived_from<Derived, Eigen::SparseCompressedBase<Derived>>
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struct fmt::formatter<Derived, CharT> {
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constexpr auto parse(fmt::format_parse_context& ctx) {
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return m_underlying.parse(ctx);
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}
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auto format(const Derived& mat, fmt::format_context& ctx) const {
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auto out = ctx.out();
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for (int row = 0; row < mat.rows(); ++row) {
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for (int col = 0; col < mat.cols(); ++col) {
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out = fmt::format_to(out, " ");
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out = m_underlying.format(mat.coeff(row, col), ctx);
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}
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if (row < mat.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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private:
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fmt::formatter<typename Derived::Scalar, CharT> m_underlying;
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};
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