Make signal_disp templated

include/dynamic-graph/signal-caster.h

@@ -93,13 +93,26 @@ public:
   }
 };
 
-/// Global signal cast template (helper) functions
-///
-/// Using these avoid using the typeid () operator and keeps the
-/// implementation details hidden.
-template <typename T> void signal_disp(const T &value, std::ostream &os) {
-  SignalCaster::getInstance()->disp(value, os);
+/// Template class used to serialize a signal value.
+template <typename T> struct signal_disp {
+inline static void run (const T &value, std::ostream &os) { os << value << '\n'; }
+};
+
+/// Template specialization of signal_disp for Eigen objects
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct signal_disp<Eigen::Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols > > {
+inline static void run(const Eigen::Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols > &value, std::ostream &os) {
+  static const Eigen::IOFormat row_format (Eigen::StreamPrecision,
+      Eigen::DontAlignCols, " ", " ", "", "", "", "");
+  os << value.format(row_format);
 }
+};
+
+/// Template specialization of signal_disp for std::string.
+/// Do not print '\n' at the end.
+template <> struct signal_disp<std::string> {
+inline static void run (const std::string &value, std::ostream &os) { os << value; }
+};
 
 template <typename T> T signal_cast(std::istringstream &iss) {
   return boost::any_cast<T>(SignalCaster::getInstance()->cast(typeid(T), iss));

include/dynamic-graph/signal.t.cpp

@@ -35,7 +35,7 @@ void Signal<T, Time>::set(std::istringstream &stringValue) {
 
 template <class T, class Time>
 void Signal<T, Time>::get(std::ostream &os) const {
-  signal_disp<T>(this->accessCopy(), os);
+  signal_disp<T>::run(this->accessCopy(), os);
 }
 
 template <class T, class Time>

tests/signal-cast-registerer.cpp

@@ -152,7 +152,7 @@ BOOST_AUTO_TEST_CASE(custom_vector_registerer) {
     output_test_stream output;
     myVectorSignal.get(output);
 
-    boost::format fmt("[ %d %d %d %d %d  ];\n");
+    boost::format fmt("%d %d %d %d %d");
     fmt % (i == 0) % (i == 1) % (i == 2) % (i == 3) % (i == 4);
 
     BOOST_CHECK(output.is_equal(fmt.str()));

tests/signal-ptr.cpp

@@ -286,7 +286,7 @@ BOOST_AUTO_TEST_CASE(plug_signal_string) {
   inSigVec.recompute(1);
   output_test_stream output;
   inSigVec.get(output);
-  BOOST_CHECK(output.is_equal("1\n2\n3\n4\n5\n"));
+  BOOST_CHECK(output.is_equal("1 2 3 4 5"));
 
   Signal<std::string, int> s("signal");
   std::ostringstream os2;