[136] | 1 | # -*- coding: utf-8 -*-
|
---|
| 2 | # This file is part of Eigen, a lightweight C++ template library
|
---|
| 3 | # for linear algebra.
|
---|
| 4 | #
|
---|
| 5 | # Copyright (C) 2009 Benjamin Schindler <bschindler@inf.ethz.ch>
|
---|
| 6 | #
|
---|
| 7 | # This Source Code Form is subject to the terms of the Mozilla Public
|
---|
| 8 | # License, v. 2.0. If a copy of the MPL was not distributed with this
|
---|
| 9 | # file, You can obtain one at http://mozilla.org/MPL/2.0/.
|
---|
| 10 |
|
---|
| 11 | # Pretty printers for Eigen::Matrix
|
---|
| 12 | # This is still pretty basic as the python extension to gdb is still pretty basic.
|
---|
| 13 | # It cannot handle complex eigen types and it doesn't support any of the other eigen types
|
---|
| 14 | # Such as quaternion or some other type.
|
---|
| 15 | # This code supports fixed size as well as dynamic size matrices
|
---|
| 16 |
|
---|
| 17 | # To use it:
|
---|
| 18 | #
|
---|
| 19 | # * Create a directory and put the file as well as an empty __init__.py in
|
---|
| 20 | # that directory.
|
---|
| 21 | # * Create a ~/.gdbinit file, that contains the following:
|
---|
| 22 | # python
|
---|
| 23 | # import sys
|
---|
| 24 | # sys.path.insert(0, '/path/to/eigen/printer/directory')
|
---|
| 25 | # from printers import register_eigen_printers
|
---|
| 26 | # register_eigen_printers (None)
|
---|
| 27 | # end
|
---|
| 28 |
|
---|
| 29 | import gdb
|
---|
| 30 | import re
|
---|
| 31 | import itertools
|
---|
| 32 |
|
---|
| 33 |
|
---|
| 34 | class EigenMatrixPrinter:
|
---|
| 35 | "Print Eigen Matrix or Array of some kind"
|
---|
| 36 |
|
---|
| 37 | def __init__(self, variety, val):
|
---|
| 38 | "Extract all the necessary information"
|
---|
| 39 |
|
---|
| 40 | # Save the variety (presumably "Matrix" or "Array") for later usage
|
---|
| 41 | self.variety = variety
|
---|
| 42 |
|
---|
| 43 | # The gdb extension does not support value template arguments - need to extract them by hand
|
---|
| 44 | type = val.type
|
---|
| 45 | if type.code == gdb.TYPE_CODE_REF:
|
---|
| 46 | type = type.target()
|
---|
| 47 | self.type = type.unqualified().strip_typedefs()
|
---|
| 48 | tag = self.type.tag
|
---|
| 49 | regex = re.compile('\<.*\>')
|
---|
| 50 | m = regex.findall(tag)[0][1:-1]
|
---|
| 51 | template_params = m.split(',')
|
---|
| 52 | template_params = map(lambda x:x.replace(" ", ""), template_params)
|
---|
| 53 |
|
---|
| 54 | if template_params[1] == '-0x00000000000000001' or template_params[1] == '-0x000000001' or template_params[1] == '-1':
|
---|
| 55 | self.rows = val['m_storage']['m_rows']
|
---|
| 56 | else:
|
---|
| 57 | self.rows = int(template_params[1])
|
---|
| 58 |
|
---|
| 59 | if template_params[2] == '-0x00000000000000001' or template_params[2] == '-0x000000001' or template_params[2] == '-1':
|
---|
| 60 | self.cols = val['m_storage']['m_cols']
|
---|
| 61 | else:
|
---|
| 62 | self.cols = int(template_params[2])
|
---|
| 63 |
|
---|
| 64 | self.options = 0 # default value
|
---|
| 65 | if len(template_params) > 3:
|
---|
| 66 | self.options = template_params[3];
|
---|
| 67 |
|
---|
| 68 | self.rowMajor = (int(self.options) & 0x1)
|
---|
| 69 |
|
---|
| 70 | self.innerType = self.type.template_argument(0)
|
---|
| 71 |
|
---|
| 72 | self.val = val
|
---|
| 73 |
|
---|
| 74 | # Fixed size matrices have a struct as their storage, so we need to walk through this
|
---|
| 75 | self.data = self.val['m_storage']['m_data']
|
---|
| 76 | if self.data.type.code == gdb.TYPE_CODE_STRUCT:
|
---|
| 77 | self.data = self.data['array']
|
---|
| 78 | self.data = self.data.cast(self.innerType.pointer())
|
---|
| 79 |
|
---|
| 80 | class _iterator:
|
---|
| 81 | def __init__ (self, rows, cols, dataPtr, rowMajor):
|
---|
| 82 | self.rows = rows
|
---|
| 83 | self.cols = cols
|
---|
| 84 | self.dataPtr = dataPtr
|
---|
| 85 | self.currentRow = 0
|
---|
| 86 | self.currentCol = 0
|
---|
| 87 | self.rowMajor = rowMajor
|
---|
| 88 |
|
---|
| 89 | def __iter__ (self):
|
---|
| 90 | return self
|
---|
| 91 |
|
---|
| 92 | def next(self):
|
---|
| 93 |
|
---|
| 94 | row = self.currentRow
|
---|
| 95 | col = self.currentCol
|
---|
| 96 | if self.rowMajor == 0:
|
---|
| 97 | if self.currentCol >= self.cols:
|
---|
| 98 | raise StopIteration
|
---|
| 99 |
|
---|
| 100 | self.currentRow = self.currentRow + 1
|
---|
| 101 | if self.currentRow >= self.rows:
|
---|
| 102 | self.currentRow = 0
|
---|
| 103 | self.currentCol = self.currentCol + 1
|
---|
| 104 | else:
|
---|
| 105 | if self.currentRow >= self.rows:
|
---|
| 106 | raise StopIteration
|
---|
| 107 |
|
---|
| 108 | self.currentCol = self.currentCol + 1
|
---|
| 109 | if self.currentCol >= self.cols:
|
---|
| 110 | self.currentCol = 0
|
---|
| 111 | self.currentRow = self.currentRow + 1
|
---|
| 112 |
|
---|
| 113 |
|
---|
| 114 | item = self.dataPtr.dereference()
|
---|
| 115 | self.dataPtr = self.dataPtr + 1
|
---|
| 116 | if (self.cols == 1): #if it's a column vector
|
---|
| 117 | return ('[%d]' % (row,), item)
|
---|
| 118 | elif (self.rows == 1): #if it's a row vector
|
---|
| 119 | return ('[%d]' % (col,), item)
|
---|
| 120 | return ('[%d,%d]' % (row, col), item)
|
---|
| 121 |
|
---|
| 122 | def children(self):
|
---|
| 123 |
|
---|
| 124 | return self._iterator(self.rows, self.cols, self.data, self.rowMajor)
|
---|
| 125 |
|
---|
| 126 | def to_string(self):
|
---|
| 127 | return "Eigen::%s<%s,%d,%d,%s> (data ptr: %s)" % (self.variety, self.innerType, self.rows, self.cols, "RowMajor" if self.rowMajor else "ColMajor", self.data)
|
---|
| 128 |
|
---|
| 129 | class EigenQuaternionPrinter:
|
---|
| 130 | "Print an Eigen Quaternion"
|
---|
| 131 |
|
---|
| 132 | def __init__(self, val):
|
---|
| 133 | "Extract all the necessary information"
|
---|
| 134 | # The gdb extension does not support value template arguments - need to extract them by hand
|
---|
| 135 | type = val.type
|
---|
| 136 | if type.code == gdb.TYPE_CODE_REF:
|
---|
| 137 | type = type.target()
|
---|
| 138 | self.type = type.unqualified().strip_typedefs()
|
---|
| 139 | self.innerType = self.type.template_argument(0)
|
---|
| 140 | self.val = val
|
---|
| 141 |
|
---|
| 142 | # Quaternions have a struct as their storage, so we need to walk through this
|
---|
| 143 | self.data = self.val['m_coeffs']['m_storage']['m_data']['array']
|
---|
| 144 | self.data = self.data.cast(self.innerType.pointer())
|
---|
| 145 |
|
---|
| 146 | class _iterator:
|
---|
| 147 | def __init__ (self, dataPtr):
|
---|
| 148 | self.dataPtr = dataPtr
|
---|
| 149 | self.currentElement = 0
|
---|
| 150 | self.elementNames = ['x', 'y', 'z', 'w']
|
---|
| 151 |
|
---|
| 152 | def __iter__ (self):
|
---|
| 153 | return self
|
---|
| 154 |
|
---|
| 155 | def next(self):
|
---|
| 156 | element = self.currentElement
|
---|
| 157 |
|
---|
| 158 | if self.currentElement >= 4: #there are 4 elements in a quanternion
|
---|
| 159 | raise StopIteration
|
---|
| 160 |
|
---|
| 161 | self.currentElement = self.currentElement + 1
|
---|
| 162 |
|
---|
| 163 | item = self.dataPtr.dereference()
|
---|
| 164 | self.dataPtr = self.dataPtr + 1
|
---|
| 165 | return ('[%s]' % (self.elementNames[element],), item)
|
---|
| 166 |
|
---|
| 167 | def children(self):
|
---|
| 168 |
|
---|
| 169 | return self._iterator(self.data)
|
---|
| 170 |
|
---|
| 171 | def to_string(self):
|
---|
| 172 | return "Eigen::Quaternion<%s> (data ptr: %s)" % (self.innerType, self.data)
|
---|
| 173 |
|
---|
| 174 | def build_eigen_dictionary ():
|
---|
| 175 | pretty_printers_dict[re.compile('^Eigen::Quaternion<.*>$')] = lambda val: EigenQuaternionPrinter(val)
|
---|
| 176 | pretty_printers_dict[re.compile('^Eigen::Matrix<.*>$')] = lambda val: EigenMatrixPrinter("Matrix", val)
|
---|
| 177 | pretty_printers_dict[re.compile('^Eigen::Array<.*>$')] = lambda val: EigenMatrixPrinter("Array", val)
|
---|
| 178 |
|
---|
| 179 | def register_eigen_printers(obj):
|
---|
| 180 | "Register eigen pretty-printers with objfile Obj"
|
---|
| 181 |
|
---|
| 182 | if obj == None:
|
---|
| 183 | obj = gdb
|
---|
| 184 | obj.pretty_printers.append(lookup_function)
|
---|
| 185 |
|
---|
| 186 | def lookup_function(val):
|
---|
| 187 | "Look-up and return a pretty-printer that can print va."
|
---|
| 188 |
|
---|
| 189 | type = val.type
|
---|
| 190 |
|
---|
| 191 | if type.code == gdb.TYPE_CODE_REF:
|
---|
| 192 | type = type.target()
|
---|
| 193 |
|
---|
| 194 | type = type.unqualified().strip_typedefs()
|
---|
| 195 |
|
---|
| 196 | typename = type.tag
|
---|
| 197 | if typename == None:
|
---|
| 198 | return None
|
---|
| 199 |
|
---|
| 200 | for function in pretty_printers_dict:
|
---|
| 201 | if function.search(typename):
|
---|
| 202 | return pretty_printers_dict[function](val)
|
---|
| 203 |
|
---|
| 204 | return None
|
---|
| 205 |
|
---|
| 206 | pretty_printers_dict = {}
|
---|
| 207 |
|
---|
| 208 | build_eigen_dictionary ()
|
---|