sophus_printers.hpp

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// Copyright 2024 Ekumen, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef BELUGA_TESTING_SOPHUS_PRINTERS_HPP
#define BELUGA_TESTING_SOPHUS_PRINTERS_HPP
 
#include <iostream>
 
#include <sophus/se2.hpp>
#include <sophus/so2.hpp>
#include <sophus/types.hpp>
 
namespace Eigen {  // NOLINT
 
 
template <class Scalar, int Rows, int Cols>
std::ostream& operator<<(std::ostream& os, const Eigen::Matrix<Scalar, Rows, Cols>& t) {
  static const auto kSingleLine = Eigen::IOFormat{
      Eigen::StreamPrecision,  //
      Eigen::DontAlignCols,    //
      ", ",                    // coefficient separator
      ", ",                    // row separator
  };
  return os << "(" << t.format(kSingleLine) << ")";
}
 
}  // namespace Eigen
 
namespace Sophus {  // NOLINT
 
 
template <class Scalar>
std::ostream& operator<<(std::ostream& os, const Sophus::SO2<Scalar>& t) {
  return os << t.unit_complex();
}
 
 
template <class Scalar>
std::ostream& operator<<(std::ostream& os, const Sophus::SE2<Scalar>& t) {
  return os << "(" << t.so2() << ", " << t.translation() << ")";
}
 
}  // namespace Sophus
 
#endif