diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
index 99f95201e220830607148af08c1a9cce6ded71d2..ff3c4df2e224718958dcf119f71015f97923ef4d 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
@@ -5,26 +5,30 @@
namespace armarx::aron
{
- std::string DataDisplayVisitor::getValue(const data::VariantPtr& n)
+ std::string
+ DataDisplayVisitor::getValue(const data::VariantPtr& n)
{
DataDisplayVisitor v;
data::visit(v, n);
return v.value.str();
}
- void DataDisplayVisitor::visitDict(const data::VariantPtr& n)
+ void
+ DataDisplayVisitor::visitDict(const data::VariantPtr& n)
{
auto x = data::Dict::DynamicCastAndCheck(n);
value << x->childrenSize() << " items";
}
- void DataDisplayVisitor::visitList(const data::VariantPtr& n)
+ void
+ DataDisplayVisitor::visitList(const data::VariantPtr& n)
{
auto x = data::List::DynamicCastAndCheck(n);
value << x->childrenSize() << " items";
}
- void DataDisplayVisitor::visitBool(const data::VariantPtr& b)
+ void
+ DataDisplayVisitor::visitBool(const data::VariantPtr& b)
{
auto x = data::Bool::DynamicCastAndCheck(b);
if (x->getValue())
@@ -37,41 +41,83 @@ namespace armarx::aron
}
}
- void DataDisplayVisitor::visitDouble(const data::VariantPtr& n)
+ void
+ DataDisplayVisitor::visitDouble(const data::VariantPtr& n)
{
auto x = data::Double::DynamicCastAndCheck(n);
value << x->getValue();
}
- void DataDisplayVisitor::visitFloat(const data::VariantPtr& n)
+ void
+ DataDisplayVisitor::visitFloat(const data::VariantPtr& n)
{
auto x = data::Float::DynamicCastAndCheck(n);
value << x->getValue();
}
- void DataDisplayVisitor::visitInt(const data::VariantPtr& n)
+ void
+ DataDisplayVisitor::visitInt(const data::VariantPtr& n)
{
auto x = data::Int::DynamicCastAndCheck(n);
value << x->getValue();
}
- void DataDisplayVisitor::visitLong(const data::VariantPtr& n)
+ void
+ DataDisplayVisitor::visitLong(const data::VariantPtr& n)
{
auto x = data::Long::DynamicCastAndCheck(n);
value << x->getValue();
}
- void DataDisplayVisitor::visitString(const data::VariantPtr& n)
+ void
+ DataDisplayVisitor::visitString(const data::VariantPtr& n)
{
auto x = data::String::DynamicCastAndCheck(n);
value << "'" << x->getValue() << "'";
}
- void DataDisplayVisitor::visitNDArray(const data::VariantPtr& n)
+ void
+ DataDisplayVisitor::visitNDArray(const data::VariantPtr& data)
{
- auto x = data::NDArray::DynamicCastAndCheck(n);
- value << "shape " << aron::data::NDArray::DimensionsToString(x->getShape()) << ", type '" << x->getType() << "'";
+ auto d = data::NDArray::DynamicCastAndCheck(data);
+
+ auto base = [this, &d]()
+ {
+ value << "shape " << aron::data::NDArray::DimensionsToString(d->getShape())
+ << ", type '" << d->getType() << "'";
+ };
+
+ if (std::max(d->getShape().at(0), d->getShape().at(1)) > 10)
+ {
+ // Just show the shape.
+ base();
+ }
+ else if (d->getType() == "float")
+ {
+ setStreamPrecision();
+ processMatrix<float>(*d);
+ }
+ else if (d->getType() == "double")
+ {
+ setStreamPrecision();
+ processMatrix<double>(*d);
+ }
+ else
+ {
+ base();
+ }
+ }
+
+ template <typename ScalarT>
+ void
+ DataDisplayVisitor::processMatrix(const data::NDArray& data)
+ {
+ Eigen::Map<Eigen::Matrix<ScalarT, Eigen::Dynamic, Eigen::Dynamic>> m(
+ reinterpret_cast<ScalarT*>(data.getData()),
+ data.getShape().at(0),
+ data.getShape().at(1));
+ value << m.format(eigenIof);
}
-}
+} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h
index d6341001207674f171f5172039987a0afaec2366..8f15373c0d90e24f042ffd15ce16fbbcf0b96a48 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h
@@ -27,6 +27,10 @@ namespace armarx::aron
void visitString(const data::VariantPtr& n) override;
void visitNDArray(const data::VariantPtr& n) override;
+
+ private:
+ template <typename ScalarT>
+ void processMatrix(const data::NDArray& data);
};
} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.cpp
index 72ee86e05c866cc37c5e6d5f1b9f40d647e10358..768a69b885efa7ae7aa36d8534cb52ece737dd00 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.cpp
@@ -4,6 +4,11 @@
namespace armarx::aron
{
+ StringStreamMixin::StringStreamMixin() :
+ coeffSep(" "), eigenIof(Eigen::StreamPrecision, 0, coeffSep, "\n", "", "", "", "")
+ {
+ }
+
void
StringStreamMixin::setStreamPrecision()
{
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.h
index 1b3316af4c9d40f89c7e7a34ec91f1552ee26432..01dfb9d91bef2208400c7a25cad3c5cfa29b8df5 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.h
@@ -2,17 +2,26 @@
#include <sstream>
+#include <Eigen/Core>
+
namespace armarx::aron
{
class StringStreamMixin
{
public:
- std::stringstream value;
+ StringStreamMixin();
protected:
void setStreamPrecision();
void setStreamPrecision(std::ostream& os);
+
+ public:
+ std::stringstream value;
+
+ protected:
+ const std::string coeffSep;
+ const Eigen::IOFormat eigenIof;
};
} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
index b51cf38df43a8c2d4695cf67a102d70c53e7fba1..e9bb7bc4441bb2246ca2d360dc747a3398b4fdfd 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
@@ -24,8 +24,7 @@ namespace armarx::aron
return v.value.str();
}
- TypedDataDisplayVisitor::TypedDataDisplayVisitor() :
- coeffSep(" "), eigenIof(Eigen::StreamPrecision, 0, coeffSep, "\n", "", "", "", "")
+ TypedDataDisplayVisitor::TypedDataDisplayVisitor()
{
}
@@ -160,28 +159,7 @@ namespace armarx::aron
void
TypedDataDisplayVisitor::visitMatrix(const data::VariantPtr& data, const type::VariantPtr& type)
{
- auto t = *type::Matrix::DynamicCastAndCheck(type);
- auto d = *data::NDArray::DynamicCastAndCheck(data);
-
- if (std::max(d.getShape().at(0), d.getShape().at(1)) > 10)
- {
- // Just show the shape.
- value << DataDisplayVisitor::getValue(data);
- }
- else if (d.getType() == "float")
- {
- setStreamPrecision();
- processMatrix<float>(t, d);
- }
- else if (d.getType() == "double")
- {
- setStreamPrecision();
- processMatrix<double>(t, d);
- }
- else
- {
- value << DataDisplayVisitor::getValue(data);
- }
+ value << DataDisplayVisitor::getValue(data);
}
void
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
index 6700f95693c4ec281e1e6bc168fa9eb66eec27d6..cdbcf69129ff9a3224c3f14d8f87a168d54238c4 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
@@ -45,11 +45,6 @@ namespace armarx::aron
// What about NDArray? currently defaulted
- protected:
- std::string coeffSep;
- Eigen::IOFormat eigenIof;
-
-
private:
template <typename ScalarT>
void processMatrix(const type::Matrix&, const data::NDArray& data);