From dafd83e8e51feccf3b719c2070afc2bc8deca25a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 9 Apr 2020 20:24:43 +0200
Subject: [PATCH] Put operator<< in Eigen namespace
---
include/core/state_block/state_composite.h | 13 +++++++++--
src/state_block/state_composite.cpp | 25 +++++++++++-----------
test/gtest_state_composite.cpp | 15 +++++++------
3 files changed, 32 insertions(+), 21 deletions(-)
diff --git a/include/core/state_block/state_composite.h b/include/core/state_block/state_composite.h
index b533eb686..1f9961815 100644
--- a/include/core/state_block/state_composite.h
+++ b/include/core/state_block/state_composite.h
@@ -26,6 +26,17 @@ typedef std::unordered_map < std::string, StateBlockPtr > StateBlockMap;
typedef std::unordered_map < std::string, Eigen::VectorXd > VectorComposite;
typedef StateBlockMap::const_iterator StateBlockMapCIter;
+typedef std::unordered_map < std::string, Eigen::VectorXd > VectorComposite;
+
+}
+
+namespace Eigen
+{
+std::ostream& operator <<(std::ostream &_os, const wolf::VectorComposite &_x);
+}
+
+namespace wolf{
+
class StateBlockComposite
{
public:
@@ -139,8 +150,6 @@ inline unsigned int MatrixComposite::count(const std::string &_row, const std::s
return (matrix_composite_.at(_row).count(_col));
}
-std::ostream& operator <<(std::ostream &_os, const VectorComposite &_x);
-
template<typename SB, typename ... Args>
inline std::shared_ptr<SB> wolf::StateBlockComposite::emplace(const std::string &_sb_type,
diff --git a/src/state_block/state_composite.cpp b/src/state_block/state_composite.cpp
index b11d911fd..941e9376f 100644
--- a/src/state_block/state_composite.cpp
+++ b/src/state_block/state_composite.cpp
@@ -4,6 +4,19 @@
#include "core/state_block/state_composite.h"
#include "core/state_block/state_block.h"
+namespace Eigen{
+std::ostream& operator <<(std::ostream &_os, const wolf::VectorComposite &_x)
+{
+ for (const auto &pair_key_vec : _x)
+ {
+ const auto &key = pair_key_vec.first;
+ const auto &vec = pair_key_vec.second;
+ _os << "\n block(" << key << ") = \n" << vec;
+ }
+ return _os;
+}
+}
+
namespace wolf
{
@@ -135,18 +148,6 @@ std::ostream& operator <<(std::ostream &_os, const MatrixComposite &_M)
return _os;
}
-std::ostream& operator <<(std::ostream &_os, const VectorComposite &_x)
-{
- for (const auto &pair_row_blk : _x)
- {
- const auto &row = pair_row_blk.first;
- const auto &vec = pair_row_blk.second;
-
- _os << "\n block(" << row << ") = \n" << vec;
- }
- return _os;
-}
-
const StateBlockMap& StateBlockComposite::getStateBlockMap() const
{
diff --git a/test/gtest_state_composite.cpp b/test/gtest_state_composite.cpp
index ce6897eaa..2a74e9911 100644
--- a/test/gtest_state_composite.cpp
+++ b/test/gtest_state_composite.cpp
@@ -5,14 +5,11 @@
* Author: jsola
*/
-
-#include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
-
-#include "core/common/wolf.h"
#include "core/state_block/state_composite.h"
#include "core/state_block/state_quaternion.h"
+#include "core/utils/utils_gtest.h"
+
using namespace wolf;
using namespace std;
@@ -215,6 +212,8 @@ TEST(VectorComposite, operatorStream)
cout << "x = " << x << endl;
+ WOLF_DEBUG("X = ", x);
+
}
TEST(MatrixComposite, emplace_operatorStream)
@@ -330,7 +329,9 @@ TEST(MatrixComposite, productVector)
x.emplace("P", Vector2d(1,1));
x.emplace("O", Vector3d(2,2,2));
- WOLF_DEBUG("x = " , x);
+ cout << "x= " << x << endl;
+
+// WOLF_DEBUG("x = " , x);
MatrixComposite M;
@@ -350,7 +351,7 @@ TEST(MatrixComposite, productVector)
y = M * x;
- WOLF_DEBUG("y = M * x = " , y);
+// WOLF_DEBUG("y = M * x = " , y);
/* M * x = y
* p o
--
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