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Add fmt::formatter specializations (#203)
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| // Copyright (c) Sleipnir contributors | ||
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| #pragma once | ||
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| #include <concepts> | ||
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| #include <Eigen/Core> | ||
| #include <Eigen/SparseCore> | ||
| #include <fmt/format.h> | ||
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| #include "sleipnir/autodiff/Variable.hpp" | ||
| #include "sleipnir/autodiff/VariableBlock.hpp" | ||
| #include "sleipnir/autodiff/VariableMatrix.hpp" | ||
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| // FIXME: Doxygen gives internal inconsistency errors: | ||
| // scope for class sleipnir::fmt::formatter< Derived, CharT > not found! | ||
| // scope for class sleipnir::fmt::formatter< sleipnir::Variable > not found! | ||
| // scope for class sleipnir::fmt::formatter< T > not found! | ||
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| //! @cond Doxygen_Suppress | ||
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| /** | ||
| * Formatter for classes derived from Eigen::MatrixBase<Derived> or | ||
| * Eigen::SparseCompressedBase<Derived>. | ||
| */ | ||
| template <typename Derived, typename CharT> | ||
| requires std::derived_from<Derived, Eigen::MatrixBase<Derived>> || | ||
| std::derived_from<Derived, Eigen::SparseCompressedBase<Derived>> | ||
| struct fmt::formatter<Derived, CharT> { | ||
| constexpr auto parse(fmt::format_parse_context& ctx) { | ||
| return m_underlying.parse(ctx); | ||
| } | ||
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| auto format(const Derived& mat, fmt::format_context& ctx) const { | ||
| auto out = ctx.out(); | ||
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| for (int row = 0; row < mat.rows(); ++row) { | ||
| for (int col = 0; col < mat.cols(); ++col) { | ||
| out = fmt::format_to(out, " "); | ||
| out = m_underlying.format(mat.coeff(row, col), ctx); | ||
| } | ||
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| if (row < mat.rows() - 1) { | ||
| out = fmt::format_to(out, "\n"); | ||
| } | ||
| } | ||
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| return out; | ||
| } | ||
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| private: | ||
| fmt::formatter<typename Derived::Scalar, CharT> m_underlying; | ||
| }; | ||
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| /** | ||
| * Formatter for sleipnir::Variable. | ||
| */ | ||
| template <> | ||
| struct fmt::formatter<sleipnir::Variable> { | ||
| constexpr auto parse(fmt::format_parse_context& ctx) { | ||
| return m_underlying.parse(ctx); | ||
| } | ||
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| auto format(const sleipnir::Variable& variable, | ||
| fmt::format_context& ctx) const { | ||
| return m_underlying.format(variable.Value(), ctx); | ||
| } | ||
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| private: | ||
| fmt::formatter<double> m_underlying; | ||
| }; | ||
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| /** | ||
| * Formatter for sleipnir::VariableBlock or sleipnir::VariableMatrix. | ||
| */ | ||
| template <typename T> | ||
| requires std::same_as<T, sleipnir::VariableBlock<sleipnir::VariableMatrix>> || | ||
| std::same_as<T, sleipnir::VariableMatrix> | ||
| struct fmt::formatter<T> { | ||
| constexpr auto parse(fmt::format_parse_context& ctx) { | ||
| return m_underlying.parse(ctx); | ||
| } | ||
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| auto format(const T& mat, fmt::format_context& ctx) const { | ||
| auto out = ctx.out(); | ||
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| for (int row = 0; row < mat.Rows(); ++row) { | ||
| for (int col = 0; col < mat.Cols(); ++col) { | ||
| out = fmt::format_to(out, " "); | ||
| out = m_underlying.format(mat(row, col).Value(), ctx); | ||
| } | ||
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| if (row < mat.Rows() - 1) { | ||
| out = fmt::format_to(out, "\n"); | ||
| } | ||
| } | ||
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| return out; | ||
| } | ||
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| private: | ||
| fmt::formatter<double> m_underlying; | ||
| }; | ||
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| //! @endcond |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| // Copyright (c) Sleipnir contributors | ||
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| #include <vector> | ||
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| #include <fmt/format.h> | ||
| #include <gtest/gtest.h> | ||
| #include <sleipnir/Formatters.hpp> | ||
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| TEST(FormattersTest, Eigen) { | ||
| Eigen::Matrix<double, 3, 2> A{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}}; | ||
| EXPECT_EQ( | ||
| " 0.000000 1.000000\n" | ||
| " 2.000000 3.000000\n" | ||
| " 4.000000 5.000000", | ||
| fmt::format("{:f}", A)); | ||
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| Eigen::MatrixXd B{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}}; | ||
| EXPECT_EQ( | ||
| " 0.000000 1.000000\n" | ||
| " 2.000000 3.000000\n" | ||
| " 4.000000 5.000000", | ||
| fmt::format("{:f}", B)); | ||
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| Eigen::SparseMatrix<double> C{3, 2}; | ||
| std::vector<Eigen::Triplet<double>> triplets; | ||
| triplets.emplace_back(0, 1, 1.0); | ||
| triplets.emplace_back(1, 0, 2.0); | ||
| triplets.emplace_back(1, 1, 3.0); | ||
| triplets.emplace_back(2, 0, 4.0); | ||
| triplets.emplace_back(2, 1, 5.0); | ||
| C.setFromTriplets(triplets.begin(), triplets.end()); | ||
| EXPECT_EQ( | ||
| " 0.000000 1.000000\n" | ||
| " 2.000000 3.000000\n" | ||
| " 4.000000 5.000000", | ||
| fmt::format("{:f}", C)); | ||
| } | ||
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| TEST(FormattersTest, Variable) { | ||
| EXPECT_EQ("4.000000", fmt::format("{:f}", sleipnir::Variable{4.0})); | ||
| } | ||
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| TEST(FormattersTest, VariableMatrix) { | ||
| Eigen::Matrix<double, 3, 2> A{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}}; | ||
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| sleipnir::VariableMatrix B{3, 2}; | ||
| B = A; | ||
| EXPECT_EQ( | ||
| " 0.000000 1.000000\n" | ||
| " 2.000000 3.000000\n" | ||
| " 4.000000 5.000000", | ||
| fmt::format("{:f}", B)); | ||
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| sleipnir::VariableBlock<sleipnir::VariableMatrix> C{B}; | ||
| EXPECT_EQ( | ||
| " 0.000000 1.000000\n" | ||
| " 2.000000 3.000000\n" | ||
| " 4.000000 5.000000", | ||
| fmt::format("{:f}", C)); | ||
| } |