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https://github.com/wpilibsuite/allwpilib
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0ef8a4e1df
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.
47 lines
1.3 KiB
C++
47 lines
1.3 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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#include <vector>
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#include <fmt/format.h>
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#include "frc/fmt/Eigen.h"
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#include "frc/fmt/Units.h"
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#include "gtest/gtest.h"
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#include "units/velocity.h"
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TEST(FormatterTest, Eigen) {
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Eigen::Matrix<double, 3, 2> A{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};
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EXPECT_EQ(
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" 0.000000 1.000000\n"
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" 2.000000 3.000000\n"
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" 4.000000 5.000000",
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fmt::format("{}", A));
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Eigen::MatrixXd B{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};
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EXPECT_EQ(
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" 0.000000 1.000000\n"
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" 2.000000 3.000000\n"
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" 4.000000 5.000000",
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fmt::format("{}", B));
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Eigen::SparseMatrix<double> C{3, 2};
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std::vector<Eigen::Triplet<double>> triplets;
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triplets.emplace_back(0, 1, 1.0);
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triplets.emplace_back(1, 0, 2.0);
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triplets.emplace_back(1, 1, 3.0);
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triplets.emplace_back(2, 0, 4.0);
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triplets.emplace_back(2, 1, 5.0);
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C.setFromTriplets(triplets.begin(), triplets.end());
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EXPECT_EQ(
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" 0.000000 1.000000\n"
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" 2.000000 3.000000\n"
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" 4.000000 5.000000",
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fmt::format("{}", C));
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}
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TEST(FormatterTest, Units) {
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EXPECT_EQ("4 mps", fmt::format("{}", 4_mps));
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}
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