printable.cpp

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//
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#include <exotica_core/tools/printable.h>

namespace exotica
{
std::ostream& operator<<(std::ostream& os, const Printable& s)
{
    s.Print(os);
    return os;
}

std::string ToString(const KDL::Frame& s)
{
    double x, y, z, w;
    s.M.GetQuaternion(x, y, z, w);
    return "([" + std::to_string(s.p.data[0]) + " " + std::to_string(s.p.data[1]) + " " + std::to_string(s.p.data[2]) + "] [" + std::to_string(x) + " " + std::to_string(y) + " " + std::to_string(z) + " " + std::to_string(w) + "])";
}

std::string ToString(const Eigen::Isometry3d& s)
{
    Eigen::Quaterniond quat(s.linear());
    return "([" + std::to_string(s.translation().x()) + " " + std::to_string(s.translation().y()) + " " + std::to_string(s.translation().z()) + "] [" + std::to_string(quat.x()) + " " + std::to_string(quat.y()) + " " + std::to_string(quat.z()) + " " + std::to_string(quat.w()) + "])";
}

void PrintDimensions(const std::string& name, const Eigen::Ref<const Eigen::MatrixXd> m)
{
    INFO_NAMED(name, m.rows() << "x" << m.cols());
}
}  // namespace exotica