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u/pp: Add math object printers

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This commit is contained in:
Jakob Bornecrantz 2022-05-26 14:09:52 +01:00
parent 5652ddd718
commit 433915b0bf
2 changed files with 191 additions and 0 deletions
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141
src/xrt/auxiliary/util/u_pretty_print.c
View file

@ -291,6 +291,147 @@ u_pp_xrt_result(struct u_pp_delegate dg, xrt_result_t xret)
}
}
/*
*
* Math structs printers.
*
*/
void
u_pp_small_vec3(u_pp_delegate_t dg, const struct xrt_vec3 *vec)
{
u_pp(dg, "[%f, %f, %f]", vec->x, vec->y, vec->z);
}
void
u_pp_small_pose(u_pp_delegate_t dg, const struct xrt_pose *pose)
{
const struct xrt_vec3 *p = &pose->position;
const struct xrt_quat *q = &pose->orientation;
u_pp(dg, "[%f, %f, %f] [%f, %f, %f, %f]", p->x, p->y, p->z, q->x, q->y, q->z, q->w);
}
void
u_pp_small_matrix_3x3(u_pp_delegate_t dg, const struct xrt_matrix_3x3 *m)
{
u_pp(dg,
"[\n"
"\t%f, %f, %f,\n"
"\t%f, %f, %f,\n"
"\t%f, %f, %f \n"
"]",
m->v[0], m->v[3], m->v[6], //
m->v[1], m->v[4], m->v[7], //
m->v[2], m->v[5], m->v[8]); //
}
void
u_pp_small_matrix_4x4(u_pp_delegate_t dg, const struct xrt_matrix_4x4 *m)
{
u_pp(dg,
"[\n"
"\t%f, %f, %f, %f,\n"
"\t%f, %f, %f, %f,\n"
"\t%f, %f, %f, %f,\n"
"\t%f, %f, %f, %f\n"
"]",
m->v[0], m->v[4], m->v[8], m->v[12], //
m->v[1], m->v[5], m->v[9], m->v[13], //
m->v[2], m->v[6], m->v[10], m->v[14], //
m->v[3], m->v[7], m->v[11], m->v[15]); //
}
void
u_pp_small_matrix_4x4_f64(u_pp_delegate_t dg, const struct xrt_matrix_4x4_f64 *m)
{
u_pp(dg,
"[\n"
"\t%f, %f, %f, %f,\n"
"\t%f, %f, %f, %f,\n"
"\t%f, %f, %f, %f,\n"
"\t%f, %f, %f, %f\n"
"]",
m->v[0], m->v[4], m->v[8], m->v[12], //
m->v[1], m->v[5], m->v[9], m->v[13], //
m->v[2], m->v[6], m->v[10], m->v[14], //
m->v[3], m->v[7], m->v[11], m->v[15]); //
}
void
u_pp_vec3(u_pp_delegate_t dg, const struct xrt_vec3 *vec, const char *name, const char *indent)
{
u_pp(dg, "\n%s%s = ", indent, name);
u_pp_small_vec3(dg, vec);
}
void
u_pp_pose(u_pp_delegate_t dg, const struct xrt_pose *pose, const char *name, const char *indent)
{
u_pp(dg, "\n%s%s = ", indent, name);
u_pp_small_pose(dg, pose);
}
void
u_pp_matrix_3x3(u_pp_delegate_t dg, const struct xrt_matrix_3x3 *m, const char *name, const char *indent)
{
u_pp(dg,
"\n%s%s = ["
"\n%s\t%f, %f, %f,"
"\n%s\t%f, %f, %f,"
"\n%s\t%f, %f, %f"
"\n%s]",
indent, name, //
indent, m->v[0], m->v[3], m->v[6], //
indent, m->v[1], m->v[4], m->v[7], //
indent, m->v[2], m->v[5], m->v[8], //
indent); //
}
void
u_pp_matrix_4x4(u_pp_delegate_t dg, const struct xrt_matrix_4x4 *m, const char *name, const char *indent)
{
u_pp(dg,
"\n%s%s = ["
"\n%s\t%f, %f, %f, %f,"
"\n%s\t%f, %f, %f, %f,"
"\n%s\t%f, %f, %f, %f,"
"\n%s\t%f, %f, %f, %f"
"\n%s]",
indent, name, //
indent, m->v[0], m->v[4], m->v[8], m->v[12], //
indent, m->v[1], m->v[5], m->v[9], m->v[13], //
indent, m->v[2], m->v[6], m->v[10], m->v[14], //
indent, m->v[3], m->v[7], m->v[11], m->v[15], //
indent); //
}
void
u_pp_matrix_4x4_f64(u_pp_delegate_t dg, const struct xrt_matrix_4x4_f64 *m, const char *name, const char *indent)
{
u_pp(dg,
"\n%s%s = ["
"\n%s\t%f, %f, %f, %f,"
"\n%s\t%f, %f, %f, %f,"
"\n%s\t%f, %f, %f, %f,"
"\n%s\t%f, %f, %f, %f"
"\n%s]",
indent, name, //
indent, m->v[0], m->v[4], m->v[8], m->v[12], //
indent, m->v[1], m->v[5], m->v[9], m->v[13], //
indent, m->v[2], m->v[6], m->v[10], m->v[14], //
indent, m->v[3], m->v[7], m->v[11], m->v[15], //
indent); //
}
/*
*
* Sink functions.
*
*/
u_pp_delegate_t
u_pp_sink_stack_only_init(struct u_pp_sink_stack_only *sink)
{

50
src/xrt/auxiliary/util/u_pretty_print.h
View file

@ -85,6 +85,56 @@ void
u_pp_xrt_result(struct u_pp_delegate dg, xrt_result_t xret);
/*
*
* Math struct printers.
*
*/
/*!
* Printers for math structs. None of these functions inserts trailing newlines
* because it's hard to remove a trailing newline but easy to add one if one
* should be needed. The small functions do not insert a starting newline while
* the other functions does. This is so that you can easily chain print
* functions to print a struct.
*
* @ingroup aux_pretty
* @{
*/
void
u_pp_small_vec3(u_pp_delegate_t dg, const struct xrt_vec3 *vec);
void
u_pp_small_pose(u_pp_delegate_t dg, const struct xrt_pose *pose);
void
u_pp_small_matrix_3x3(u_pp_delegate_t dg, const struct xrt_matrix_3x3 *m);
void
u_pp_small_matrix_4x4(u_pp_delegate_t dg, const struct xrt_matrix_4x4 *m);
void
u_pp_small_matrix_4x4_f64(u_pp_delegate_t dg, const struct xrt_matrix_4x4_f64 *m);
void
u_pp_vec3(u_pp_delegate_t dg, const struct xrt_vec3 *vec, const char *name, const char *indent);
void
u_pp_pose(u_pp_delegate_t dg, const struct xrt_pose *pose, const char *name, const char *indent);
void
u_pp_matrix_3x3(u_pp_delegate_t dg, const struct xrt_matrix_3x3 *m, const char *name, const char *indent);
void
u_pp_matrix_4x4(u_pp_delegate_t dg, const struct xrt_matrix_4x4 *m, const char *name, const char *indent);
void
u_pp_matrix_4x4_f64(u_pp_delegate_t dg, const struct xrt_matrix_4x4_f64 *m, const char *name, const char *indent);
/*!
* @}
*/
/*
*
* Sinks.