| Directory: | ./ |
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| File: | tests/print.cc |
| Date: | 2025-05-04 12:09:19 |
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| 1 | // Copyright (c) 2017, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | |||
| 5 | // Redistribution and use in source and binary forms, with or without | ||
| 6 | // modification, are permitted provided that the following conditions are | ||
| 7 | // met: | ||
| 8 | // | ||
| 9 | // 1. Redistributions of source code must retain the above copyright | ||
| 10 | // notice, this list of conditions and the following disclaimer. | ||
| 11 | // | ||
| 12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 13 | // notice, this list of conditions and the following disclaimer in the | ||
| 14 | // documentation and/or other materials provided with the distribution. | ||
| 15 | // | ||
| 16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 27 | // DAMAGE. | ||
| 28 | |||
| 29 | #include <hpp/pinocchio/fwd.hh> | ||
| 30 | #include <hpp/pinocchio/util.hh> | ||
| 31 | #include <iostream> | ||
| 32 | #include <pinocchio/spatial/se3.hpp> | ||
| 33 | |||
| 34 | using namespace hpp; | ||
| 35 | using hpp::pinocchio::matrix_t; | ||
| 36 | using hpp::pinocchio::SE3; | ||
| 37 | using hpp::pinocchio::vector_t; | ||
| 38 | using hpp::pinocchio::vectorIn_t; | ||
| 39 | using hpp::pinocchio::vectorOut_t; | ||
| 40 | |||
| 41 | 1 | int main() { | |
| 42 | //! [Example usage] | ||
| 43 |
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1 | std::cout << incindent << iendl << pretty_print(SE3::Identity()) << iendl |
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1 | << condensed(SE3::Identity()) << iendl << one_line(SE3::Identity()) |
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1 | << decindent << iendl; |
| 46 | |||
| 47 |
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1 | std::cout << setpyformat << iendl << pretty_print(SE3::Identity()) << iendl |
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1 | << condensed(SE3::Identity()) << iendl << one_line(SE3::Identity()) |
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1 | << iendl; |
| 50 | |||
| 51 |
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1 | vector_t v = vector_t::Ones(2); |
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1 | matrix_t m = matrix_t::Identity(3, 3); |
| 53 | |||
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1 | std::cout << unsetpyformat << iendl << pretty_print(v) << iendl |
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1 | << condensed(v) << iendl << one_line(v.segment(0, 2)) << iendl |
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2 | << pretty_print(vectorOut_t(v)) << iendl << condensed(vectorIn_t(v)) |
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1 | << iendl; |
| 58 | |||
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1 | std::cout << setpyformat << iendl << pretty_print(m) << iendl << condensed(m) |
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1 | << iendl << one_line(m.block(1, 1, 2, 2)) << iendl; |
| 61 | //! [Example usage] | ||
| 62 | |||
| 63 | 1 | return 0; | |
| 64 | 1 | } | |
| 65 |