[wpimath] Support formatting Eigen array types (#6496)

wpilibsuite · Apr 4, 2024 · d26e6d9 · d26e6d9
1 parent fbb3669
commit d26e6d9
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/wpimath/src/main/native/include/frc/fmt/Eigen.h b/wpimath/src/main/native/include/frc/fmt/Eigen.h
@@ -11,11 +11,11 @@
 #include <fmt/format.h>
 
 /**
- * Formatter for classes derived from Eigen::MatrixBase<Derived> or
+ * Formatter for classes derived from Eigen::DenseBase<Derived> or
  * Eigen::SparseCompressedBase<Derived>.
  */
 template <typename Derived, typename CharT>
-  requires std::derived_from<Derived, Eigen::MatrixBase<Derived>> ||
+  requires std::derived_from<Derived, Eigen::DenseBase<Derived>> ||
            std::derived_from<Derived, Eigen::SparseCompressedBase<Derived>>
 struct fmt::formatter<Derived, CharT> {
   constexpr auto parse(fmt::format_parse_context& ctx) {

diff --git a/wpimath/src/test/native/cpp/FormatterTest.cpp b/wpimath/src/test/native/cpp/FormatterTest.cpp
@@ -25,19 +25,22 @@ TEST(FormatterTest, Eigen) {
       "  4.000000  5.000000",
       fmt::format("{:f}", B));
 
-  Eigen::SparseMatrix<double> C{3, 2};
+  Eigen::Array2d C{0.0, 1.0};
+  EXPECT_EQ("  0.000000\n  1.000000", fmt::format("{:f}", C));
+
+  Eigen::SparseMatrix<double> D{3, 2};
   std::vector<Eigen::Triplet<double>> triplets;
   triplets.emplace_back(0, 1, 1.0);
   triplets.emplace_back(1, 0, 2.0);
   triplets.emplace_back(1, 1, 3.0);
   triplets.emplace_back(2, 0, 4.0);
   triplets.emplace_back(2, 1, 5.0);
-  C.setFromTriplets(triplets.begin(), triplets.end());
+  D.setFromTriplets(triplets.begin(), triplets.end());
   EXPECT_EQ(
       "  0.000000  1.000000\n"
       "  2.000000  3.000000\n"
       "  4.000000  5.000000",
-      fmt::format("{:f}", C));
+      fmt::format("{:f}", D));
 }
 
 TEST(FormatterTest, Units) {