fmt_formatters.h

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/*
 * Copyright 2026 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
#include <fmt/format.h>
#include <fmt/ostream.h>
#include <fmt/ranges.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
#include <filesystem>
 
#if defined(FMT_VERSION) && FMT_VERSION >= 100000
#  define FMT_CONST_IF_REQUIRED const
#else
#  define FMT_CONST_IF_REQUIRED
#endif
 
template<>
struct fmt::formatter<std::filesystem::path> : fmt::formatter<std::string>
{
  template<typename FormatContext>
  auto format(const std::filesystem::path & p, FormatContext & ctx) FMT_CONST_IF_REQUIRED
  {
    return fmt::formatter<std::string>::format(p.string(), ctx);
  }
};
 
#if FMT_VERSION >= 9 * 10000
#  define MC_FMT_STREAMED(X) fmt::streamed(X)
 
// Formatter for any Eigen type derived from EigenBase (matrices, arrays,
// expressions, etc.) Tested for fmt_9, fmt_10, fmt_11 and fmt_12
template<typename T>
struct fmt::formatter<T, char, std::enable_if_t<std::is_base_of_v<Eigen::EigenBase<T>, T>>> : fmt::ostream_formatter
{
};
 
// Prevent fmt/ranges from also treating Eigen types as ranges. Otherwise fmt
// finds two competing formatter specializations (ranges + Eigen ostream) and
// fails with an ambiguous formatter instantiation.
template<typename T, typename Char>
struct fmt::range_format_kind<T, Char, std::enable_if_t<std::is_base_of_v<Eigen::EigenBase<T>, T>>>
: std::integral_constant<fmt::range_format, fmt::range_format::disabled>
{
};
 
#  define MC_FMT_OSTREAM_FORMATTER(TYPE)                 \
    template<>                                           \
    struct fmt::formatter<TYPE> : fmt::ostream_formatter \
    {                                                    \
    };
 
// Automatic ostream formatter for SpaceVecAlg types
MC_FMT_OSTREAM_FORMATTER(sva::ABInertiad)
MC_FMT_OSTREAM_FORMATTER(sva::AdmittanceVecd)
MC_FMT_OSTREAM_FORMATTER(sva::ForceVecd)
MC_FMT_OSTREAM_FORMATTER(sva::MotionVecd)
MC_FMT_OSTREAM_FORMATTER(sva::RBInertiad)
MC_FMT_OSTREAM_FORMATTER(sva::PTransformd)
MC_FMT_OSTREAM_FORMATTER(sva::ImpedanceVecd)
#else // FMT_VERSION < 9 * 10000
/* std::ostream support was automatic in fmt versions < 9,
   thus fmt::streamed did not exist and was not needed (which IMHO was a much
   saner default) */
#  define MC_FMT_STREAMED(X) X
#endif