Replace signal_trace.

include/dynamic-graph/signal-caster.h

@@ -17,6 +17,7 @@
 
 #include "dynamic-graph/exception-signal.h"
 #include <dynamic-graph/dynamic-graph-api.h>
+#include <dynamic-graph/linear-algebra.h>
 
 namespace dynamicgraph {
 /// This singleton class allows serialization of a number of objects into
@@ -109,9 +110,20 @@ template <typename T> T signal_cast(std::istringstream &iss) {
   return boost::any_cast<T>(SignalCaster::getInstance()->cast(typeid(T), iss));
 }
 
-template <typename T> void signal_trace(const T &value, std::ostream &os) {
-  SignalCaster::getInstance()->trace(value, os);
+/// Template class used to display a signal value.
+template <typename T> struct signal_trace {
+inline static void run(const T &value, std::ostream &os) { os << value << '\n'; }
+};
+
+/// Template specialization of signal_trace for Eigen objects
+template <typename Derived> struct signal_trace<Eigen::DenseBase<Derived> > {
+inline static void run(const Eigen::DenseBase<Derived> &value, std::ostream &os) {
+  static const Eigen::IOFormat row_format (Eigen::StreamPrecision,
+      Eigen::DontAlignCols, ", ", ", ", "", "", "", "\n");
+  os << value.format(row_format);
 }
+};
+
 } // end of namespace dynamicgraph.
 
 #endif //! DYNAMIC_GRAPH_SIGNAL_CASTER_HH

include/dynamic-graph/signal.t.cpp

@@ -41,7 +41,7 @@ void Signal<T, Time>::get(std::ostream &os) const {
 template <class T, class Time>
 void Signal<T, Time>::trace(std::ostream &os) const {
   try {
-    signal_trace<T>(this->accessCopy(), os);
+    signal_trace<T>::run(this->accessCopy(), os);
   } catch DG_RETHROW catch (...) {
     DG_THROW ExceptionSignal(ExceptionSignal::SET_IMPOSSIBLE,
                              "TRACE operation not possible with this signal. ",

tests/signal-all.cpp

@@ -159,7 +159,6 @@ BOOST_AUTO_TEST_CASE(test_cast_helper) {
   /// Test cast register with Vector
   output_test_stream output;
   dynamicgraph::Vector avec;
-  DefaultCastRegisterer<dynamicgraph::Vector> defaultVR;
   avec.resize(4);
   avec[0] = 1.0;
   avec[1] = 2.0;
@@ -167,7 +166,7 @@ BOOST_AUTO_TEST_CASE(test_cast_helper) {
   avec[3] = 4.0;
   res = true;
   try {
-    defaultVR.trace(avec, output);
+    signal_trace<Vector>::run(avec, output);
   } catch (ExceptionSignal &e) {
     /// Exception in case of wrong cast.
     /// This should not happen.
@@ -177,7 +176,6 @@ BOOST_AUTO_TEST_CASE(test_cast_helper) {
 
   /// Test cast register with Matrix
   dynamicgraph::Matrix amatrix;
-  DefaultCastRegisterer<dynamicgraph::Matrix> defaultMR;
   amatrix.resize(2, 2);
   amatrix(0, 0) = 0.0;
   amatrix(0, 1) = 1.0;
@@ -185,7 +183,7 @@ BOOST_AUTO_TEST_CASE(test_cast_helper) {
   amatrix(1, 1) = 3.0;
   res = true;
   try {
-    defaultMR.trace(amatrix, output);
+    signal_trace<Matrix>::run(amatrix, output);
   } catch (ExceptionSignal &e) {
     /// Exception in case of wrong cast.
     /// This should happen

tests/signal-cast-registerer.cpp

@@ -140,13 +140,11 @@ BOOST_AUTO_TEST_CASE(custom_vector_registerer) {
   dynamicgraph::Signal<dynamicgraph::Vector, int> myVectorSignal("vector");
 
   /// Create a second local vector registerer to generate an exception.
-  bool res = false;
   try {
     EigenCastRegisterer_V myVectorCast2;
   } catch (const ExceptionSignal &aes) {
-    res = (aes.getCode() == ExceptionSignal::GENERIC);
+    // BOOST_CHECK(aes.getCode() == ExceptionSignal::GENERIC);
   }
-  //  BOOST_CHECK(res);
 
   // Print the signal name.
   {