Changed the gdb display format of vectors and added support for quaternions.
diff --git a/debug/gdb/printers.py b/debug/gdb/printers.py
index 9f6cfa5..3c04407 100644
--- a/debug/gdb/printers.py
+++ b/debug/gdb/printers.py
@@ -116,8 +116,11 @@
item = self.dataPtr.dereference()
self.dataPtr = self.dataPtr + 1
-
- return ('[%d, %d]' % (row, col), item)
+ if (self.cols == 1): #if it's a column vector
+ return ('[%d]' % (row,), item)
+ elif (self.rows == 1): #if it's a row vector
+ return ('[%d]' % (col,), item)
+ return ('[%d,%d]' % (row, col), item)
def children(self):
@@ -126,7 +129,53 @@
def to_string(self):
return "Eigen::Matrix<%s,%d,%d,%s> (data ptr: %s)" % (self.innerType, self.rows, self.cols, "RowMajor" if self.rowMajor else "ColMajor", self.data)
+class EigenQuaternionPrinter:
+ "Print an Eigen Quaternion"
+
+ def __init__(self, val):
+ "Extract all the necessary information"
+ # The gdb extension does not support value template arguments - need to extract them by hand
+ type = val.type
+ if type.code == gdb.TYPE_CODE_REF:
+ type = type.target()
+ self.type = type.unqualified().strip_typedefs()
+ self.innerType = self.type.template_argument(0)
+ self.val = val
+
+ # Quaternions have a struct as their storage, so we need to walk through this
+ self.data = self.val['m_coeffs']['m_storage']['m_data']['array']
+ self.data = self.data.cast(self.innerType.pointer())
+
+ class _iterator:
+ def __init__ (self, dataPtr):
+ self.dataPtr = dataPtr
+ self.currentElement = 0
+ self.elementNames = ['x', 'y', 'z', 'w']
+
+ def __iter__ (self):
+ return self
+
+ def next(self):
+ element = self.currentElement
+
+ if self.currentElement >= 4: #there are 4 elements in a quanternion
+ raise StopIteration
+
+ self.currentElement = self.currentElement + 1
+
+ item = self.dataPtr.dereference()
+ self.dataPtr = self.dataPtr + 1
+ return ('[%s]' % (self.elementNames[element],), item)
+
+ def children(self):
+
+ return self._iterator(self.data)
+
+ def to_string(self):
+ return "Eigen::Quaternion<%s> (data ptr: %s)" % (self.innerType, self.data)
+
def build_eigen_dictionary ():
+ pretty_printers_dict[re.compile('^Eigen::Quaternion<.*>$')] = lambda val: EigenQuaternionPrinter(val)
pretty_printers_dict[re.compile('^Eigen::Matrix<.*>$')] = lambda val: EigenMatrixPrinter(val)
def register_eigen_printers(obj):
