From 69b2ea72f50f6f9f5341fe033a8a82f80a452e43 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 26 Jun 2023 15:33:05 +0200
Subject: [PATCH] Move code
---
.../display_visitors/DataDisplayVisitor.cpp | 72 +++++++++++++++----
.../display_visitors/DataDisplayVisitor.h | 4 ++
.../display_visitors/StringStreamMixin.cpp | 5 ++
.../display_visitors/StringStreamMixin.h | 11 ++-
.../TypedDataDisplayVisitor.cpp | 26 +------
.../TypedDataDisplayVisitor.h | 5 --
6 files changed, 80 insertions(+), 43 deletions(-)
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 99f95201e..ff3c4df2e 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 d63410012..8f15373c0 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 72ee86e05..768a69b88 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 1b3316af4..01dfb9d91 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 b51cf38df..e9bb7bc44 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 6700f9569..cdbcf6912 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);
--
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