From 86b44d4d5ce8dbd299d2d60d4b9ded1008f4299c Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Sat, 23 Jun 2018 23:35:25 +0200
Subject: [PATCH] made pose output more consistent
---
source/RobotAPI/libraries/core/FramedPose.cpp | 9 +++++----
source/RobotAPI/libraries/core/Pose.cpp | 6 +++---
source/RobotAPI/libraries/core/Pose.h | 3 +++
3 files changed, 11 insertions(+), 7 deletions(-)
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index 0cd53f085..ff6bcc0ed 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -220,7 +220,7 @@ namespace armarx
string FramedDirection::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
+ s << toEigen().format(ArmarXEigenFormat) << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
return s.str();
}
@@ -318,7 +318,8 @@ namespace armarx
string FramedPose::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
+ const Eigen::IOFormat ArmarXEigenFormat(Eigen::StreamPrecision, 4, " ", "\n", "", "");
+ s << toEigen().format(ArmarXEigenFormat) << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
return s.str();
}
@@ -658,7 +659,7 @@ namespace armarx
string FramedPosition::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
+ s << toEigen().format(ArmarXEigenFormat) << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
return s.str();
}
@@ -728,7 +729,7 @@ namespace armarx
string FramedOrientation::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen() << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
+ s << toEigen()/*.format(ArmarXEigenFormat)*/ << std::endl << "frame: " << getFrame() << (agent.empty() ? "" : (" agent: " + agent));
return s.str();
}
diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index f6e8963d3..cf2ef51c6 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -147,7 +147,7 @@ namespace armarx
string Vector3::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen();
+ s << toEigen().format(ArmarXEigenFormat);
return s.str();
}
@@ -247,7 +247,7 @@ namespace armarx
string Quaternion::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen();
+ s << toEigen()/*.format(ArmarXEigenFormat)*/;
return s.str();
}
@@ -328,7 +328,7 @@ namespace armarx
string Pose::output(const Ice::Current& c) const
{
std::stringstream s;
- s << toEigen();
+ s << toEigen()/*.format(ArmarXEigenFormat)*/;
return s.str();
}
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index a3c79e750..6911f7870 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -47,6 +47,9 @@ namespace armarx
const VariantTypeId Pose = Variant::addTypeName("::armarx::PoseBase");
}
+ const Eigen::IOFormat ArmarXEigenFormat(Eigen::StreamPrecision, Eigen::DontAlignCols, " ", "\n", "", "");
+
+
/**
* @brief The Vector2 class
* @ingroup VariantsGrp
--
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