DebugPrint.h File Reference

#include <algorithm>
#include <iomanip>
#include <sstream>
#include <string>
#include "utils/Transforms.h"

Go to the source code of this file.

Functions
const Eigen::IOFormat	EigFmt (PRINT_PRECISION, 0, ", ", ";\n", "", "", "[", "]")
template<typename Derived >
std::string	fmt_eigen (const Eigen::MatrixBase< Derived > &m)
	Formats any Eigen matrix/vector as a string. More...
std::string	fmt_pose (const Pose &pose)
	Formats a Pose as "pos=[x, y, z] rpy=[r, p, y] deg". More...
std::string	fmt_state (const State &state)
	Formats a State (pose + twist + acceleration) as a multi-line string. More...
void	fmt_hline (std::ostringstream &s, int w, const char *l, const char *r)
void	fmt_row (std::ostringstream &s, int w, const std::string &content)
std::string	fmt_f (double v, int w=7, int prec=2)
std::string	fmt_v3 (const char *lbl, double a, double b, double c, const char *tag="")
std::string	fmt_v6 (const char *lbl, double a, double b, double c, double d, double e, double g)
std::string	fmt_scalar (const char *lbl, double v)
template<typename Params >
std::string	fmt_config (const Params &c)
	Formats a vehicle config struct as a boxed table string. More...

Variables
constexpr int	PRINT_PRECISION = 3

Function Documentation

EigFmt()

const Eigen::IOFormat EigFmt ( PRINT_PRECISION  , 0  , "  , "  , ";\n"  , ""  , ""  , ""  [", "]  )

inline

fmt_config()

template<typename Params >

std::string fmt_config

(

const Params &

c

)

Formats a vehicle config struct as a boxed table string.

Templated to avoid a hard dependency on ControlsROS2Wrapper::Params.

fmt_eigen()

template<typename Derived >

std::string fmt_eigen

(

const Eigen::MatrixBase< Derived > &

m

)

Formats any Eigen matrix/vector as a string.

Vectors (single column) are printed transposed as a row.

fmt_f()

std::string fmt_f ( double  v, int  w = 7, int  prec = 2  )

inline

fmt_hline()

void fmt_hline ( std::ostringstream &  s, int  w, const char *  l, const char *  r  )

inline

fmt_pose()

std::string fmt_pose ( const Pose &  pose )

inline

Formats a Pose as "pos=[x, y, z] rpy=[r, p, y] deg".

fmt_row()

void fmt_row ( std::ostringstream &  s, int  w, const std::string &  content  )

inline

fmt_scalar()

std::string fmt_scalar ( const char *  lbl, double  v  )

inline

fmt_state()

std::string fmt_state ( const State &  state )

inline

Formats a State (pose + twist + acceleration) as a multi-line string.

fmt_v3()

std::string fmt_v3 ( const char *  lbl, double  a, double  b, double  c, const char *  tag = ""  )

inline

fmt_v6()

std::string fmt_v6 ( const char *  lbl, double  a, double  b, double  c, double  d, double  e, double  g  )

inline

Variable Documentation

PRINT_PRECISION

constexpr int PRINT_PRECISION = 3

constexpr