Printing to output stream

Classes
struct	hpp::prettyPrint< T, Option >
	This function must be specialized for the type you want to print. More...

Enumerations
enum	{ hpp::OutputFormatBits = 3, hpp::OneLineOutput = 0, hpp::CondensedOutput = 1, hpp::PrettyOutput = 2 }
	The printing options, currently only contains the output format. More...

Functions
HPP_PINOCCHIO_DLLAPI std::ostream &	hpp::setpyformat (std::ostream &o)
HPP_PINOCCHIO_DLLAPI std::ostream &	hpp::unsetpyformat (std::ostream &o)
template<typename T >
PrettyPrint< T, PrettyOutput >	hpp::pretty_print (const T &t)
	Pretty printing. More...
template<typename T >
PrettyPrint< T, CondensedOutput >	hpp::condensed (const T &t)
	Condensed printing. More...
template<typename T >
PrettyPrint< T, OneLineOutput >	hpp::one_line (const T &t)
	Print on one line. More...

Detailed Description

Some tools to ease pretty printing of objects in HPP. To print vectors, you have the following options:

  std::cout << incindent
    << iendl << pretty_print (SE3::Identity())
    << iendl << condensed (SE3::Identity())
    << iendl << one_line (SE3::Identity())
    << decindent << iendl;

  std::cout << setpyformat
    << iendl << pretty_print (SE3::Identity())
    << iendl << condensed (SE3::Identity())
    << iendl << one_line (SE3::Identity())
    << iendl;

  vector_t v = vector_t::Ones(2);
  matrix_t m = matrix_t::Identity(3,3);

  std::cout << unsetpyformat
    << iendl << pretty_print (v)
    << iendl << condensed (v)
    << iendl << one_line (v.segment(0,2))
    << iendl << pretty_print (vectorOut_t(v))
    << iendl << condensed (vectorIn_t(v))
    << iendl;

  std::cout << setpyformat
    << iendl << pretty_print (m)
    << iendl << condensed (m)
    << iendl << one_line (m.block(1,1,2,2))
    << iendl;

which should output something like

  R =   1, 0, 0
        0, 1, 0
        0, 0, 1
  p = 0, 0, 0
  q = 0, 0, 0, 1
  p = 0, 0, 0
  q = 0, 0, 0, 1, p = 0, 0, 0

R = ( (1, 0, 0,)
      (0, 1, 0,)
      (0, 0, 1,) )
p = (0, 0, 0,)
q = (0, 0, 0, 1,)
p = (0, 0, 0,)
q = (0, 0, 0, 1,), p = (0, 0, 0,)

1, 1
1, 1
1, 1
1, 1
1, 1

( (1, 0, 0,),
   (0, 1, 0,),
   (0, 0, 1,), )
( (1, 0, 0,),    (0, 1, 0,),    (0, 0, 1,), )
( (1, 0,),    (0, 1,), )

Enumeration Type Documentation

anonymous enum

anonymous enum

The printing options, currently only contains the output format.

Enumerator
OutputFormatBits
OneLineOutput
CondensedOutput
PrettyOutput

Function Documentation

condensed()

template<typename T >

PrettyPrint<T, CondensedOutput > hpp::condensed ( const T &  t )

inline

Condensed printing.

one_line()

template<typename T >

PrettyPrint<T, OneLineOutput > hpp::one_line ( const T &  t )

inline

Print on one line.

pretty_print()

template<typename T >

PrettyPrint<T, PrettyOutput > hpp::pretty_print ( const T &  t )

inline

Pretty printing.

setpyformat()

HPP_PINOCCHIO_DLLAPI std::ostream& hpp::setpyformat

(

std::ostream &

o

)

unsetpyformat()

HPP_PINOCCHIO_DLLAPI std::ostream& hpp::unsetpyformat

(

std::ostream &

o

)