From 8cff599b81b705fd79b20f8d939423f90efbf11c Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Wed, 6 Apr 2016 12:22:18 +0200
Subject: [PATCH] [c++] update the ostream output format for MatrixHomogeneous
to [M,N]((,,,),(,,,),(,,,))
---
include/dynamic-graph/eigen-io.h | 14 +++++++++++++-
include/dynamic-graph/linear-algebra.h | 1 +
2 files changed, 14 insertions(+), 1 deletion(-)
diff --git a/include/dynamic-graph/eigen-io.h b/include/dynamic-graph/eigen-io.h
index 60eab3f..89d8f33 100644
--- a/include/dynamic-graph/eigen-io.h
+++ b/include/dynamic-graph/eigen-io.h
@@ -138,9 +138,21 @@ namespace Eigen {
+
+ /* \brief Eigen Homogeneous Matrix output
+ *
+ * Matrix format: [M,N]((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))
+ * e.g. [2,5]((1 23 32.2 12.12 32),(2 32 23 92.01 19.2))
+ */
+
inline std::ostream& operator << (std::ostream &os,
Transform<double,3,Affine> MH) {
- os << MH.matrix(); return os; }
+ IOFormat boostFmt(StreamPrecision, DontAlignCols,
+ ",", ",",
+ "(",")",
+ "(",")");
+
+ os << "[4,4]"<< MH.matrix().format(boostFmt); return os; }
inline std::ostream& operator << (std::ostream &os,
diff --git a/include/dynamic-graph/linear-algebra.h b/include/dynamic-graph/linear-algebra.h
index 7605815..4b566fb 100644
--- a/include/dynamic-graph/linear-algebra.h
+++ b/include/dynamic-graph/linear-algebra.h
@@ -18,6 +18,7 @@
#ifndef DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
#define DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
#include <Eigen/Core>
+#include <Eigen/Geometry>
namespace dynamicgraph {
typedef Eigen::MatrixXd Matrix;
--
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