| Directory: | ./ |
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| File: | src/util.cc |
| Date: | 2025-05-04 12:09:19 |
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| 1 | // Copyright (c) 2017-2018, 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/util.hh> | ||
| 30 | #include <iostream> | ||
| 31 | #include <pinocchio/spatial/se3.hpp> | ||
| 32 | |||
| 33 | namespace hpp { | ||
| 34 | 21 | long& getpythonformat(std::ostream& o) { | |
| 35 | // The slot to store the current python format type. | ||
| 36 |
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21 | static const int pythonformat_index = std::ios::xalloc(); |
| 37 | 21 | return o.iword(pythonformat_index); | |
| 38 | } | ||
| 39 | 2 | std::ostream& setpyformat(std::ostream& o) { | |
| 40 | 2 | getpythonformat(o) = 1; | |
| 41 | 2 | return o; | |
| 42 | } | ||
| 43 | 1 | std::ostream& unsetpyformat(std::ostream& o) { | |
| 44 | 1 | getpythonformat(o) = 0; | |
| 45 | 1 | return o; | |
| 46 | } | ||
| 47 | |||
| 48 | // ::pinocchio::SE3 | ||
| 49 | template <int Option> | ||
| 50 | struct HPP_PINOCCHIO_DLLAPI prettyPrint<pinocchio::SE3, Option> { | ||
| 51 | 6 | static std::ostream& run(std::ostream& os, const ::pinocchio::SE3& M) { | |
| 52 | enum { | ||
| 53 | OneLine = ((Option & OutputFormatBits) == OneLineOutput), | ||
| 54 | Condensed = ((Option & OutputFormatBits) == CondensedOutput) | ||
| 55 | }; | ||
| 56 | 6 | static const Eigen::IOFormat mfmt_py = eigen_format < OneLine || Condensed, | |
| 57 | true, false > ::run(); | ||
| 58 | 6 | static const Eigen::IOFormat vfmt_py = eigen_format < OneLine || Condensed, | |
| 59 | true, true > ::run(); | ||
| 60 | 6 | static const Eigen::IOFormat mfmt_raw = eigen_format < OneLine || Condensed, | |
| 61 | false, false > ::run(); | ||
| 62 | 6 | static const Eigen::IOFormat vfmt_raw = eigen_format < OneLine || Condensed, | |
| 63 | false, true > ::run(); | ||
| 64 | 6 | bool use_py_fmt = (getpythonformat(os) != 0); | |
| 65 | 6 | const Eigen::IOFormat& vfmt = (use_py_fmt ? vfmt_py : vfmt_raw); | |
| 66 | |||
| 67 | switch (Option & OutputFormatBits) { | ||
| 68 | case OneLineOutput: | ||
| 69 | 2 | return os << "q = " | |
| 70 | 2 | << one_line(::pinocchio::SE3::Quaternion(M.rotation())) | |
| 71 | 2 | << ", p = " << M.translation().transpose().format(vfmt); | |
| 72 | case CondensedOutput: | ||
| 73 | 2 | return os << "q = " | |
| 74 | 2 | << one_line(::pinocchio::SE3::Quaternion(M.rotation())) | |
| 75 | 2 | << iendl | |
| 76 | 2 | << "p = " << M.translation().transpose().format(vfmt); | |
| 77 | case PrettyOutput: | ||
| 78 | default: | ||
| 79 | 2 | char po[] = "( ", pc[] = " )", sp[] = " "; | |
| 80 | 2 | if (!use_py_fmt) { | |
| 81 | 1 | po[0] = ' '; | |
| 82 | 1 | pc[1] = ' '; | |
| 83 | } | ||
| 84 | 4 | return os << "R = " << po << M.rotation().row(0).format(vfmt) << iendl | |
| 85 | 4 | << " " << sp << M.rotation().row(1).format(vfmt) << iendl | |
| 86 | 4 | << " " << sp << M.rotation().row(2).format(vfmt) << pc | |
| 87 | 2 | << iendl | |
| 88 | 2 | << "p = " << M.translation().transpose().format(vfmt); | |
| 89 | } | ||
| 90 | } | ||
| 91 | }; | ||
| 92 | |||
| 93 | template struct HPP_PINOCCHIO_DLLAPI prettyPrint<pinocchio::SE3, PrettyOutput>; | ||
| 94 | template struct HPP_PINOCCHIO_DLLAPI | ||
| 95 | prettyPrint<pinocchio::SE3, CondensedOutput>; | ||
| 96 | template struct HPP_PINOCCHIO_DLLAPI prettyPrint<pinocchio::SE3, OneLineOutput>; | ||
| 97 | } // namespace hpp | ||
| 98 |