logger_format.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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#ifndef G2O_LOGGER_FORMAT_H
#define G2O_LOGGER_FORMAT_H
 
#include "g2o/config.h"
 
#ifdef G2O_HAVE_LOGGING
#include <spdlog/fmt/fmt.h>
#include <spdlog/fmt/ostr.h>
#include <spdlog/fmt/ranges.h>
 
#if FMT_VERSION >= 90000
// see https://fmt.dev/9.0.0/api.html#std-ostream-support
 
#include <Eigen/Dense>
 
template <typename T>
struct fmt::formatter<
    T, std::enable_if_t<std::is_base_of_v<Eigen::DenseBase<T>, T>, char>>
    : fmt::ostream_formatter {};
 
#if FMT_VERSION >= 110000
// Eigen 5 expressions are iterable; keep fmt from treating them as ranges
template <typename T>
struct fmt::range_format_kind<
    T, char, std::enable_if_t<std::is_base_of_v<Eigen::DenseBase<T>, T>>>
    : std::integral_constant<fmt::range_format, fmt::range_format::disabled> {};
#endif
 
#endif
 
#endif  // G2O_HAVE_LOGGING
#endif