INSTINCT Code Coverage Report

Line	Branch	Exec	Source
1			// This file is part of INSTINCT, the INS Toolkit for Integrated
2			// Navigation Concepts and Training by the Institute of Navigation of
3			// the University of Stuttgart, Germany.
4			//
5			// This Source Code Form is subject to the terms of the Mozilla Public
6			// License, v. 2.0. If a copy of the MPL was not distributed with this
7			// file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9			/// @file Matrix.hpp
10			/// @brief Widgets related to Matrices
11			/// @author T. Topp (topp@ins.uni-stuttgart.de)
12			/// @date 2021-10-04
13
14			#pragma once
15
16			#include <Eigen/Core>
17			#include <cstdint>
18			#include <imgui.h>
19
20			/// @brief Flags for MatrixView GUI elements @ref GuiMatrixViewFlags_
21			using GuiMatrixViewFlags = int;
22
23			/// @brief Flags to select the MatrixView behaviour
24			enum GuiMatrixViewFlags_ : uint8_t
25			{
26			GuiMatrixViewFlags_None = 0, ///< None
27			GuiMatrixViewFlags_RowHeader = 1 << 0, ///< Print the Row Header
28			GuiMatrixViewFlags_ColumnHeader = 1 << 1, ///< Print the Col Header
29			GuiMatrixViewFlags_Header = GuiMatrixViewFlags_RowHeader | GuiMatrixViewFlags_ColumnHeader, ///< Print all Header
30			};
31
32			namespace NAV::gui::widgets
33			{
34			#if defined(__GNUC__) || defined(__clang__)
35			#pragma GCC diagnostic push
36			#pragma GCC diagnostic ignored "-Wformat-nonliteral"
37			#endif
38
39			/// @brief Shows GUI elements to display the coefficients of a matrix
40			/// @tparam _Scalar Data Type of the matrix
41			/// @tparam _Rows Amount of rows of the matrix
42			/// @tparam _Cols Amount of cols of the matrix
43			/// @param[in] label Label to display beside. Has to be unique (use # to hide text afterwards to append an uid)
44			/// @param[in] matrix Pointer to the matrix to display
45			/// @param[in] flags Flags to modify the behavior of the whole element
46			/// @param[in] tableFlags Flags to modify the Table behaviour
47			/// @param[in] format Printf format to display the value with
48			template<typename _Scalar, int _Rows, int _Cols>
49		✗	void MatrixView(const char* label, const Eigen::Matrix<_Scalar, _Rows, _Cols>* matrix, GuiMatrixViewFlags flags = GuiMatrixViewFlags_None, ImGuiTableFlags tableFlags = ImGuiTableFlags_None,
50			const char* format = "%.6f")
51			{
52		✗	if (ImGui::BeginTable(label, static_cast<int>(matrix->cols()) + ((flags & GuiMatrixViewFlags_RowHeader) == 1), tableFlags))
53			{
54		✗	if (flags & GuiMatrixViewFlags_ColumnHeader)
55			{
56		✗	if (flags & GuiMatrixViewFlags_RowHeader)
57			{
58		✗	ImGui::TableSetupColumn("");
59			}
60		✗	for (int64_t col = 0; col < matrix->cols(); col++)
61			{
62		✗	ImGui::TableSetupColumn(std::to_string(col).c_str());
63			}
64		✗	ImGui::TableHeadersRow();
65			}
66
67		✗	for (int64_t row = 0; row < matrix->rows(); row++)
68			{
69		✗	if (flags & GuiMatrixViewFlags_RowHeader)
70			{
71		✗	ImGui::TableNextColumn();
72		✗	ImGui::TextUnformatted(std::to_string(row).c_str());
73		✗	ImU32 cell_bg_color = ImGui::GetColorU32(ImGui::GetStyle().Colors[ImGuiCol_TableHeaderBg]);
74		✗	ImGui::TableSetBgColor(ImGuiTableBgTarget_CellBg, cell_bg_color);
75			}
76
77		✗	for (int64_t col = 0; col < matrix->cols(); col++)
78			{
79		✗	ImGui::TableNextColumn();
80		✗	ImGui::Text(format, (*matrix)(row, col));
81			}
82			}
83		✗	ImGui::EndTable();
84			}
85		✗	}
86			#if defined(__GNUC__) || defined(__clang__)
87			#pragma GCC diagnostic pop
88			#endif
89
90			/// @brief Shows GUI elements to modify the coefficients of a matrix with
91			/// @tparam _Scalar Data Type of the matrix
92			/// @tparam _Rows Amount of rows of the matrix
93			/// @tparam _Cols Amount of cols of the matrix
94			/// @param[in] label Label to display beside. Has to be unique (use # to hide text afterwards to append an uid)
95			/// @param[in, out] matrix Pointer to the matrix to modify
96			/// @param[in] flags Flags to modify the behavior of the whole element
97			/// @param[in] tableFlags Flags to modify the Table behaviour
98			/// @param[in] inputTextWidth With in px of each InputText
99			/// @param[in] step Step size of the InputText
100			/// @param[in] step_fast Fast step size of the InputText
101			/// @param[in] format Printf format to display the value with
102			/// @param[in] inputTextFlags InputText flags to modify the behavior of the input fields
103			/// @return True if the value was changed
104			template<typename _Scalar, int _Rows, int _Cols>
105		✗	bool InputMatrix(const char* label, Eigen::Matrix<_Scalar, _Rows, _Cols>* matrix, GuiMatrixViewFlags flags = GuiMatrixViewFlags_None, ImGuiTableFlags tableFlags = ImGuiTableFlags_None,
106			float inputTextWidth = 50.0F, double step = 0.0, double step_fast = 0.0, const char* format = "%.6f", ImGuiInputTextFlags inputTextFlags = ImGuiInputTextFlags_None)
107			{
108		✗	bool changed = false;
109		✗	if (ImGui::BeginTable(label, static_cast<int>(matrix->cols()) + ((flags & GuiMatrixViewFlags_RowHeader) == 1), tableFlags))
110			{
111		✗	if (flags & GuiMatrixViewFlags_ColumnHeader)
112			{
113		✗	if (flags & GuiMatrixViewFlags_RowHeader)
114			{
115		✗	ImGui::TableSetupColumn("");
116			}
117		✗	for (int64_t col = 0; col < matrix->cols(); col++)
118			{
119		✗	ImGui::TableSetupColumn(std::to_string(col).c_str());
120			}
121		✗	ImGui::TableHeadersRow();
122			}
123
124		✗	for (int64_t row = 0; row < matrix->rows(); row++)
125			{
126		✗	if (flags & GuiMatrixViewFlags_RowHeader)
127			{
128		✗	ImGui::TableNextColumn();
129		✗	ImGui::TextUnformatted(std::to_string(row).c_str());
130		✗	ImU32 cell_bg_color = ImGui::GetColorU32(ImGui::GetStyle().Colors[ImGuiCol_TableHeaderBg]);
131		✗	ImGui::TableSetBgColor(ImGuiTableBgTarget_CellBg, cell_bg_color);
132			}
133
134		✗	for (int64_t col = 0; col < matrix->cols(); col++)
135			{
136		✗	ImGui::TableNextColumn();
137		✗	ImGui::SetNextItemWidth(inputTextWidth);
138		✗	if (ImGui::InputDouble(fmt::format("##{} ({}, {})", label, row, col).c_str(), &(*matrix)(row, col), step, step_fast, format, inputTextFlags))
139			{
140		✗	changed = true;
141			}
142			}
143			}
144		✗	ImGui::EndTable();
145			}
146
147		✗	return changed;
148			}
149
150			} // namespace NAV::gui::widgets
151