[ext] proposed eigen format printing

Author: hshose

examples/nucleo_g474re/eigen/main.cpp

@@ -13,6 +13,8 @@
 
 using namespace Board;
 
+Eigen::IOFormat squarebrackets(5, 0, ", ", "\n", "[", "]");
+
 int
 main()
 {
@@ -30,7 +32,7 @@ main()
 		MODM_LOG_INFO << "Here is u*v^T:\n" << u * v.transpose() << modm::endl;
 		MODM_LOG_INFO << "Let's multiply mat by itself" << modm::endl;
 		mat = mat * mat;
-		MODM_LOG_INFO << "Now mat is mat:\n" << mat << modm::endl;
+		MODM_LOG_INFO << "Now mat is mat:\n" << mat.format(squarebrackets)<< modm::endl;
 
 		modm::delay(1s);
 	}

examples/nucleo_g474re/eigen/project.xml

@@ -5,6 +5,7 @@
   </options>
   <modules>
     <module>modm:build:scons</module>
+    <module>modm:platform:heap</module>
     <module>modm:eigen</module>
   </modules>
 </library>

ext/libeigen/Version.in

@@ -16,7 +16,9 @@
 #  include <eigen_conf_local.h>
 #endif
 
+%% if eigen_no_io
 #define EIGEN_NO_IO
+%% endif
 #define EIGEN_DONT_VECTORIZE
 #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
 #define EIGEN_DONT_PARALLELIZE

ext/libeigen/eigen.lb

@@ -29,11 +29,10 @@ def build(env):
     env.outbasepath = "modm/ext/eigen"
     env.collect(":build:path.include", "modm/ext/eigen")
 
-    env.substitutions = {"eigen_no_malloc": not env.has_module(":platform:heap")}
+    env.substitutions = {
+        "eigen_no_malloc": not env.has_module(":platform:heap"),
+        "eigen_no_io": not (env.has_module(":io") and env.has_module(":platform:heap"))
+    }
     env.copy("eigen/Eigen", "Eigen", ignore=env.ignore_files("Version"))
     env.copy("eigen/Eigen/Version", "Eigen/Version_orig")
     env.template("Version.in", "Eigen/Version")
-
-    if env.has_module(":io"):
-        env.outbasepath = "modm/src/modm/io"
-        env.copy("iostream_eigen.hpp")

src/modm/io/iostream.hpp.in

@@ -247,6 +247,20 @@ public:
 %% endif
 
 
+	inline size_t width() const { return 0; }
+	inline void width(size_t) {}
+	inline size_t precision() const { return fmt_precision; }
+    inline size_t precision(size_t p) {
+        size_t old = fmt_precision;
+        fmt_precision = p;
+        return old;
+    }
+	inline char fill() const { return ' '; }
+    inline char fill(char) {
+        return ' ';
+    }
+
+
 protected:
 	template< typename T >
 	void
@@ -273,7 +287,7 @@ protected:
 	void writeInteger(uint64_t value);
 %% endif
 
-%% if options.with_float
+%% if options.with_float 
 	inline void writeFloat(float value)
 	{ writeDouble(static_cast<double>(value)); }
 	void writeDouble(const double& value);
@@ -303,6 +317,9 @@ private:
 	{ if (c) reinterpret_cast<modm::IOStream*>(arg)->write(c); }
 	printf_output_gadget_t output_gadget{out_char, this, NULL, 0, INT_MAX};
 %% endif
+%% if options.with_float
+	size_t fmt_precision = 0;
+%% endif
 };
 
 /// @ingroup modm_io
@@ -372,8 +389,5 @@ white(IOStream& ios);
 }	// namespace modm
 
 #include "iostream_chrono.hpp"
-%% if with_eigen
-#include "iostream_eigen.hpp"
-%% endif
 
 #endif // MODM_IOSTREAM_HPP

src/modm/io/iostream_printf.cpp.in

@@ -147,7 +147,7 @@ void
 IOStream::writeDouble(const double& value)
 {
 %% if options.with_printf
-	print_floating_point(&output_gadget, value, 0, 0, 0, true);
+	print_floating_point(&output_gadget, value, fmt_precision, 0, 0, true);
 %% else
 	if(!std::isfinite(value)) {
 		if(std::isinf(value)) {

src/modm/io/module.lb

@@ -48,8 +48,7 @@ def build(env):
         "is_avr": target.platform == "avr",
         "with_fiber": env.has_module(":processing:fiber"),
         "family": target.family,
-        "core": core,
-        "with_eigen": env.has_module(":eigen"),
+        "core": core
     }
     env.outbasepath = "modm/src/modm/io"
     env.copy("iodevice.hpp")