Exotica
printable.h
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29 
30 #ifndef EXOTICA_CORE_PRINTABLE_H_
31 #define EXOTICA_CORE_PRINTABLE_H_
32 
33 #include <iomanip>
34 #include <iostream>
35 #include <map>
36 #include <vector>
37 
38 #include <Eigen/Geometry>
39 #include <kdl/frames.hpp>
40 
42 #ifndef __PRETTY_FUNCTION__
43 #define __PRETTY_FUNCTION__ __func__
44 #endif
45 
46 #ifdef EXOTICA_CORE_DEBUG_MODE
47 #define CHECK_EXECUTION std::cout << "\033[1;32m[EXOTica]:\033[0m Ok in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\n";
48 #define INDICATE_FAILURE std::cerr << "\033[1;32m[EXOTica]:\033[0m \033[1;31mFailed in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\033[0m\n";
49 #define WARNING(x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[33mWarning in " << __PRETTY_FUNCTION__ << ": " << x << "\033[0m\n";
50 #define ERROR(x) std::cerr << "\033[1;32m[EXOTica]:\033[0m \033[1;31mFailed in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\n" \
51  << x << "\033[0m\n"; // With endline
52 #define INFO(x) std::clog << "\033[1;32m[EXOTica]:\033[0m Info in " << __PRETTY_FUNCTION__ << ": " << x << "\n"; // With endline
53 #else
54 #define CHECK_EXECUTION // No operation
55 #define INDICATE_FAILURE std::cerr << "\033[1;32m[EXOTica]:\033[0m \033[1;31mFailed in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\033[0m\n";
56 #define WARNING(x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[33mWarning in " << __PRETTY_FUNCTION__ << ": " << x << "\033[0m\n";
57 #define ERROR(x) std::cerr << "\033[1;32m[EXOTica]:\033[0m \033[1;31mFailed in " << __FILE__ << " at line " << __LINE__ << " within function " << __PRETTY_FUNCTION__ << ".\n" \
58  << x << "\033[0m\n"; // With endline
59 #define INFO(x)
60 #endif
61 #define HIGHLIGHT(x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[36m" << x << "\033[0m\n";
62 #define HIGHLIGHT_NAMED(name, x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[35m[" << name << "]\033[0m \033[36m" << x << "\033[0m\n";
63 #define WARNING_NAMED(name, x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[35m[" << name << "]\033[0m \033[33m" << x << "\033[0m\n";
64 #define INFO_NAMED(name, x) std::cout << "\033[1;32m[EXOTica]:\033[0m \033[35m[" << name << "]\033[0m " << x << "\n";
65 #define INFO_PLAIN(x) std::cout << x << "\n";
66 
67 namespace exotica
68 {
69 class Printable
70 {
71 public:
72  virtual void Print(std::ostream& os) const = 0;
73 };
74 
75 std::ostream& operator<<(std::ostream& os, const Printable& s);
76 
77 template <typename T>
78 std::ostream& operator<<(std::ostream& os, const std::vector<T>& s)
79 {
80  for (auto& p : s) os << p << "\n";
81  return os;
82 }
83 
84 template <typename I, typename T>
85 std::ostream& operator<<(std::ostream& os, const std::map<I, T>& s)
86 {
87  for (auto& p : s) os << p.first << ": " << p.second << "\n";
88  return os;
89 }
90 
91 std::string ToString(const KDL::Frame& s);
92 
93 std::string ToString(const Eigen::Isometry3d& s);
94 
95 void PrintDimensions(const std::string& name, const Eigen::Ref<const Eigen::MatrixXd> m);
96 } // namespace exotica
97 
98 #endif // EXOTICA_CORE_PRINTABLE_H_
exotica
Definition: cartpole_dynamics_solver.h:38
exotica::Printable
Definition: printable.h:69
exotica::ToString
std::string ToString(const KDL::Frame &s)
exotica::Printable::Print
virtual void Print(std::ostream &os) const =0
exotica::PrintDimensions
void PrintDimensions(const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
exotica::operator<<
std::ostream & operator<<(std::ostream &os, const Printable &s)