diff --git a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
index c03f50a293b26523cf500c9ccedf75360ced2111..65af5d76ee017656ea700023be2b34b6e51feb83 100644
--- a/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_gui/CMakeLists.txt
@@ -38,6 +38,7 @@ set(SOURCES
instance/serialize_path.cpp
instance/display_visitors/DataDisplayVisitor.cpp
+ instance/display_visitors/StringStreamMixin.cpp
instance/display_visitors/TypedDataDisplayVisitor.cpp
instance/tree_builders/DataTreeBuilder.cpp
@@ -87,6 +88,7 @@ set(HEADERS
instance/serialize_path.h
instance/display_visitors/DataDisplayVisitor.h
+ instance/display_visitors/StringStreamMixin.h
instance/display_visitors/TypedDataDisplayVisitor.h
instance/tree_builders/DataTreeBuilder.h
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..a814c111cf8d24b728e0406ff89d9f428ab6ed99 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 +41,101 @@ 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);
+
+ if (d->getType() == "float")
+ {
+ setStreamPrecision();
+ processMatrix<float>(*d);
+ }
+ else if (d->getType() == "double")
+ {
+ setStreamPrecision();
+ processMatrix<double>(*d);
+ }
+ else
+ {
+ printShape(*d);
+ }
+ }
+
+ void
+ DataDisplayVisitor::printShape(const data::NDArray& d)
+ {
+ value << "shape " << aron::data::NDArray::DimensionsToString(d.getShape()) << ", type '"
+ << d.getType() << "'";
+ }
+
+ template <typename ScalarT>
+ void
+ DataDisplayVisitor::processMatrix(const data::NDArray& data)
+ {
+ const int rows = data.getShape().at(0);
+ const int cols = data.getShape().at(1);
+
+ const Eigen::Map<Eigen::Matrix<ScalarT, Eigen::Dynamic, Eigen::Dynamic>> m(
+ reinterpret_cast<ScalarT*>(data.getData()), rows, cols);
+
+ const int maxRows = 10;
+ const int maxCols = 10;
+
+ if (cols > maxCols)
+ {
+ printShape(data);
+ }
+ else if (rows > maxRows)
+ {
+ int shownRows = 2;
+
+ value << "(";
+ printShape(data);
+ value << ")\n"
+ << m.block(0, 0, shownRows, cols) << "\n...\n"
+ << m.block(rows - shownRows, 0, shownRows, cols);
+ }
+ else
+ {
+ 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 1595e6ffb601278cb186d61f3a5f2535ff8bbcfb..26d8aae07a87dbc82bb3b44e9e8154f3cfc8315f 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.h
@@ -4,20 +4,18 @@
#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+#include "StringStreamMixin.h"
namespace armarx::aron
{
- class DataDisplayVisitor : public aron::data::ConstVariantVisitor
+ class DataDisplayVisitor : public aron::data::ConstVariantVisitor, public StringStreamMixin
{
public:
static std::string getValue(const data::VariantPtr& n);
public:
-
- std::stringstream value;
-
void visitDict(const data::VariantPtr& n) override;
void visitList(const data::VariantPtr& n) override;
@@ -30,6 +28,11 @@ namespace armarx::aron
void visitNDArray(const data::VariantPtr& n) override;
+ private:
+ template <typename ScalarT>
+ void processMatrix(const data::NDArray& data);
+
+ void printShape(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
new file mode 100644
index 0000000000000000000000000000000000000000..768a69b885efa7ae7aa36d8534cb52ece737dd00
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.cpp
@@ -0,0 +1,24 @@
+#include "StringStreamMixin.h"
+
+#include <iomanip> // std::setprecision
+
+namespace armarx::aron
+{
+ StringStreamMixin::StringStreamMixin() :
+ coeffSep(" "), eigenIof(Eigen::StreamPrecision, 0, coeffSep, "\n", "", "", "", "")
+ {
+ }
+
+ void
+ StringStreamMixin::setStreamPrecision()
+ {
+ setStreamPrecision(value);
+ }
+
+ void
+ StringStreamMixin::setStreamPrecision(std::ostream& os)
+ {
+ os << std::setprecision(2) << std::fixed;
+ }
+
+} // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.h
new file mode 100644
index 0000000000000000000000000000000000000000..01dfb9d91bef2208400c7a25cad3c5cfa29b8df5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/StringStreamMixin.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <sstream>
+
+#include <Eigen/Core>
+
+namespace armarx::aron
+{
+
+ class StringStreamMixin
+ {
+ public:
+ 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 6e2e92a7cea71f53f2eb16f4ea369f53176f7079..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()
{
}
@@ -104,7 +103,9 @@ namespace armarx::aron
TypedDataDisplayVisitor::processMatrix(const type::Matrix& type, const data::NDArray& data)
{
Eigen::Map<Eigen::Matrix<ScalarT, Eigen::Dynamic, Eigen::Dynamic>> m(
- reinterpret_cast<ScalarT*>(data.getData()), type.getRows(), type.getCols());
+ reinterpret_cast<ScalarT*>(data.getData()),
+ data.getShape().at(0),
+ data.getShape().at(1));
value << m.format(eigenIof);
}
@@ -158,28 +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(t.getRows(), t.getCols()) > 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
@@ -204,16 +184,4 @@ namespace armarx::aron
value << DataDisplayVisitor::getValue(data);
}
- void
- TypedDataDisplayVisitor::setStreamPrecision()
- {
- setStreamPrecision(value);
- }
-
- void
- TypedDataDisplayVisitor::setStreamPrecision(std::ostream& os)
- {
- os << std::setprecision(2) << std::fixed;
- }
-
} // namespace armarx::aron
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 9d0193e376c3ddf9d346d9f3d2114be547138fcb..cdbcf69129ff9a3224c3f14d8f87a168d54238c4 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
@@ -7,25 +7,22 @@
#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+#include "StringStreamMixin.h"
namespace armarx::aron
{
- class TypedDataDisplayVisitor : public aron::data::ConstTypedVariantVisitor
+ class TypedDataDisplayVisitor :
+ public aron::data::ConstTypedVariantVisitor,
+ public StringStreamMixin
{
public:
-
static std::string getValue(const type::VariantPtr& type, const data::VariantPtr& data);
public:
-
TypedDataDisplayVisitor();
-
- std::stringstream value;
-
-
void visitDict(const data::VariantPtr& data, const type::VariantPtr& type) override;
void visitObject(const data::VariantPtr& data, const type::VariantPtr& type) override;
@@ -48,14 +45,7 @@ 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);
void processQuaternion(const data::NDArray& data);
@@ -63,10 +53,6 @@ namespace armarx::aron
void processPose(const type::Matrix&, const data::NDArray& data);
void processPosition(const type::Matrix&, const data::NDArray& data);
void processOrientation(const type::Quaternion&, const data::NDArray& data);
-
- void setStreamPrecision();
- void setStreamPrecision(std::ostream& os);
-
};
-}
+} // namespace armarx::aron