Printing and debugging

Setting print options

enum ksl_print_breakBetweenLines_enum_t

Values:

KSL_NO_BREAK_BETWEEN_LINES = 0
KSL_BREAK_BETWEEN_LINES
struct ksl_print_options_t

print formatting options

void ksl_print_setDefaultOptions()

set global print options to default settings

ksl_print_setDelimiter(fmt, ...)

used to set delimiter used in display of matrices, vectors, screws, etc.

Parameters
  • delimiter: [in]
  • options: [in] a pointer to a user-defined ksl_print_options_t struct containing print options. If this value is NULL or is not present, the option will be set in the global print settings.

ksl_print_setRealFormat(fmt, ...)

used to set format for display of float and double values

Parameters
  • fmt: [in]
  • options: [in] a pointer to a user-defined ksl_print_options_t struct containing print options. If this value is NULL or is not present, the option will be set in the global print settings.

void ksl_print_setRealFormatOption(const char *fmt, ...)

used to set format for display of float and double values

Parameters
  • fmt: [in]
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL, the options are set in the global print options. This second argument is required in this function.

ksl_print_setInnerBrackets(left, right, ...)

used to set inner brackets in dispay of matrices

Parameters
  • left: [in] left bracket
  • right: [in] right bracket
  • options: [in] a pointer to a user-defined ksl_print_options_t struct containing print options. If this value is NULL or is not present, the option will be set in the global print settings.

void ksl_print_setInnerBracketsOption(const char *left, const char *right, ...)

used to set inner brackets in dispay of matrices

Parameters
  • left: [in] left bracket
  • right: [in] right bracket
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL, the options are set in the global print options. This second argument is required in this function.

ksl_print_setOuterBrackets(left, right, ...)

used to set outer brackets in dispay of matrices

Parameters
  • left: [in] left bracket
  • right: [in] right bracket
  • options: [in] a pointer to a user-defined ksl_print_options_t struct containing print options. If this value is NULL or is not present, the option will be set in the global print settings.

void ksl_print_setOuterBracketsOption(const char *left, const char *right, ...)

used to set outer brackets in dispay of matrices

Parameters
  • left: [in] left bracket
  • right: [in] right bracket
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL, the options are set in the global print options. This second argument is required in this function.

ksl_print_setBreakBetweenLinesInMatrix(val, ...)

used to set “BreakBetweenLinesInMatrix” option for dispay of matrices

Parameters
  • val: [in] valid inputs are KSL_BREAK_BETWEEN_LINES or KSL_NO_BREAK_BETWEEN_LINES
  • options: [in] a pointer to a user-defined ksl_print_options_t struct containing print options. If this value is NULL or is not present, the option will be set in the global print settings.

void ksl_print_setBreakBetweenLinesInMatrixOption(ksl_print_breakBetweenLines_enum_t val, ...)

used to set “BreakBetweenLinesInMatrix” option for dispay of matrices

Parameters
  • val: [in] valid inputs are KSL_BREAK_BETWEEN_LINES or KSL_NO_BREAK_BETWEEN_LINES
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL, the options are set in the global print options. This second argument is required in this function.

ksl_print_setBoolean(True, False, ...)

used to set “BreakBetweenLinesInMatrix” option for dispay of matrices

Parameters
  • val: [in] valid inputs are KSL_BREAK_BETWEEN_LINES or KSL_NO_BREAK_BETWEEN_LINES
  • options: [in] a pointer to a user-defined ksl_print_options_t struct containing print options. If this value is NULL or is not present, the option will be set in the global print settings.

void ksl_print_setBooleanOption(const char *True, const char *False, ...)

used to set display of boolean values

Parameters
  • left: [in] string to display true values
  • right: [in] string to display false values
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL, the options are set in the global print options. This second argument is required in this function.

ksl_print_setRowColumnMajorPrinting(val, ...)

used to set “RowColumnMajorPrinting” option for dispay of matrices

Parameters
  • val: [in] valid inputs are KSL_ROW_MAJOR or KSL_COLUMN_MAJOR
  • options: [in] a pointer to a user-defined ksl_print_options_t struct containing print options. If this value is NULL or is not present, the option will be set in the global print settings.

void ksl_print_setRowColumnMajorPrintingOption(ksl_matrix_enum_t print_row_column_major, ...)

used to set “RowColumnMajorPrinting” option for dispay of matrices

Parameters
  • val: [in] valid inputs are KSL_ROW_MAJOR or KSL_COLUMN_MAJOR
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL, the options are set in the global print options. This second argument is required in this function.

ksl_print_options_t *ksl_print_options()

constructor used to create a default print options on the heap. must be freed by user.

Double precision

ksl_vec3_debug(f, v, ...)

“debug” print a ksl_vec3_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_vec3_t in release mode, use the ksl_vec3_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_vec3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_vec3_print(f, v, ...)

print a ksl_vec3_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_vec3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options. To pass an options struct with no label, call ksl_vec3_print(f, v, NULL, options); or ksl_vec3_print(f, v, “”, options);

void ksl_vec3_printWithOptions(FILE *f, const ksl_vec3_t *v, ...)
ksl_mat3x3_debug(f, m, ...)

“debug” print a ksl_mat3x3_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_mat3x3_t in release mode, use the ksl_mat3x3_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_mat3x3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_mat3x3_print(f, m, ...)

print a ksl_mat3x3_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_mat3x3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] an optional pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_mat3x3_printWithOptions(FILE *f, const ksl_mat3x3_t *m, ...)
ksl_mat4x4_debug(f, m, ...)

“debug” print a ksl_mat4x4_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_mat4x4_t in release mode, use the ksl_mat4x4_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_mat3x3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_mat4x4_print(f, m, ...)

print a ksl_mat4x4_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_mat4x4_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_mat4x4_printWithOptions(FILE *f, const ksl_mat4x4_t *d, ...)
ksl_quaternion_debug(f, v, ...)

“debug” print a ksl_quaternion_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_quaternion_t in release mode, use the ksl_quaternion_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_quaternion_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_quaternion_print(f, v, ...)

print a ksl_quaternion_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_quaternion_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_quaternion_printWithOptions(FILE *f, const ksl_quaternion_t *q, ...)
ksl_screw_debug(f, v, ...)

“debug” print a ksl_screw_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_screw_t in release mode, use the ksl_screw_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_screw_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_screw_print(f, v, ...)

print a ksl_screw_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_screw_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_screw_printWithOptions(FILE *f, const ksl_screw_t *s, ...)
ksl_coscrew_debug(f, v, ...)

“debug” print a ksl_coscrew_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_coscrew_t in release mode, use the ksl_coscrew_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_coscrew_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_coscrew_print(f, v, ...)

print a ksl_coscrew_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_coscrew_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_coscrew_printWithOptions(FILE *f, const ksl_coscrew_t *s, ...)
ksl_SE3_debug(f, m, ...)

“debug” print a ksl_SE3_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_SE3_t in release mode, use the ksl_SE3_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_SE3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_SE3_print(f, m, ...)

print a ksl_SE3_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_SE3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_SE3_printWithOptions(FILE *f, const ksl_SE3_t *d, ...)
ksl_inertia_debug(f, m, ...)

“debug” print a triangular array of boolean values. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print an array in release mode, use the ksl_triangb_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] row/column dimension of nxn matrix
  • a: [in] a pointer to a boolean array
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_inertia_print(f, m, ...)

print a lower triangular array of booleans.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] row/column dimension of nxn matrix
  • a: [in] a pointer to a boolean array
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_inertia_printWithOptions(FILE *f, const ksl_inertia_t *m, ...)

print a full 6x6 spatial inertia matrix

ksl_array_debug(f, n, a, ...)

“debug” print a double precision array. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print an array in release mode, use the ksl_array_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] number of values to print
  • a: [in] a pointer to a double*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_array_print(f, n, a, ...)

print a double precision array.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] number of values to print
  • a: [in] a pointer to a double*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_array_printWithOptions(FILE *f, const int n, const double *a, ...)
ksl_array2D_debug(f, m, n, a, ...)

“debug” print a double precision 2D array. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print an array in release mode, use the ksl_array_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • m: [in] array row dimension
  • n: [in] array column dimension
  • a: [in] a pointer to a double*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_array2D_print(f, m, n, a, ...)

print a double precision 2D array.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • m: [in] row dimension
  • n: [in] column dimension
  • a: [in] a pointer to a double*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_array2D_printWithOptions(FILE *f, const int rowDim, const int colDim, const double *a, ...)
ksl_triang_debug(f, n, a, ...)

“debug” print a triangular array of double precision values. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print an array in release mode, use the ksl_triang_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] row/column dimension of nxn matrix
  • a: [in] a pointer to a double*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_triang_print(f, n, a, ...)

print a lower triangular array of double precision values.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] row/column dimension of nxn matrix
  • a: [in] a pointer to a int*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_triang_printWithOptions(FILE *f, const int n, const double *a, ...)

Single precision

ksl_vec3f_debug(f, v, ...)

“debug” print a ksl_vec3f_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_vec3f_t in release mode, use the ksl_vec3f_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_vec3f_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_vec3f_print(f, v, ...)

print a ksl_vec3f_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_vec3f_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options. To pass an options struct with no label, call ksl_vec3f_print(f, v, NULL, options); or ksl_vec3f_print(f, v, “”, options);

void ksl_vec3f_printWithOptions(FILE *f, const ksl_vec3f_t *vi, ...)
ksl_mat3x3f_debug(f, m, ...)

“debug” print a ksl_mat3x3f_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_mat3x3f_t in release mode, use the ksl_mat3x3f_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_mat3x3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_mat3x3f_print(f, m, ...)

print a ksl_mat3x3f_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_mat3x3f_t datastructure
  • label: [in] an optional pointer to a const char* label
  • options: [in] an optional pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_mat3x3f_printWithOptions(FILE *f, const ksl_mat3x3f_t *m, ...)
ksl_mat4x4f_debug(f, m, ...)

“debug” print a ksl_mat4x4f_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_mat4x4_t in release mode, use the ksl_mat4x4_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_mat3x3_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_mat4x4f_print(f, m, ...)

print a ksl_mat4x4f_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_mat4x4f_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_mat4x4f_printWithOptions(FILE *f, const ksl_mat4x4f_t *d, ...)
ksl_quaternionf_debug(f, v, ...)

“debug” print a ksl_quaternionf_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_quaternionf_t in release mode, use the ksl_quaternionf_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_quaternionf_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_quaternionf_print(f, v, ...)

print a ksl_quaternionf_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_quaternionf_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_quaternionf_printWithOptions(FILE *f, const ksl_quaternionf_t *q, ...)
ksl_screwf_debug(f, v, ...)

“debug” print a ksl_screwf_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_screwf_t in release mode, use the ksl_screwf_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_screwf_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_screwf_print(f, v, ...)

print a ksl_screwf_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_screwf_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_screwf_printWithOptions(FILE *f, const ksl_screwf_t *s, ...)
ksl_coscrewf_debug(f, v, ...)

“debug” print a ksl_coscrewf_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_coscrewf_t in release mode, use the ksl_coscrewf_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_coscrewf_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_coscrewf_print(f, v, ...)

print a ksl_coscrewf_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_coscrewf_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_coscrewf_printWithOptions(FILE *f, const ksl_coscrewf_t *s, ...)
ksl_SE3f_debug(f, m, ...)

“debug” print a ksl_SE3f_t data structure. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print a ksl_SE3f_t in release mode, use the ksl_SE3f_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_SE3f_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_SE3f_print(f, m, ...)

print a ksl_SE3f_t data structure.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • v: [in] a pointer to a ksl_SE3f_t datastructure
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_SE3f_printWithOptions(FILE *f, const ksl_SE3f_t *r, ...)

Integers

ksl_arrayi_debug(f, n, a, ...)

“debug” print an array of integers. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print an array in release mode, use the ksl_arrayi_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] number of values to print
  • a: [in] a pointer to a double*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_arrayi_print(f, n, a, ...)

print an array of integers.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] number of values to print
  • a: [in] a pointer to a int*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_arrayi_printWithOptions(FILE *f, const int n, const int *a, ...)
ksl_triangi_debug(f, n, a, ...)

“debug” print a triangular array of integer values. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print an array in release mode, use the ksl_triangi_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] row/column dimension of nxn matrix
  • a: [in] a pointer to a int*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_triangi_print(f, n, a, ...)

print a lower triangular array of integers.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] row/column dimension of nxn matrix
  • a: [in] a pointer to a int*
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_triangi_printWithOptions(FILE *f, const int n, const int *a, ...)

Booleans

ksl_triangb_debug(f, n, a, ...)

“debug” print a triangular array of boolean values. If NDEBUG is defined, this function is converted to a no-op and nothing will be output. If it is desired to print an array in release mode, use the ksl_triangb_print function.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] row/column dimension of nxn matrix
  • a: [in] a pointer to a boolean array
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

ksl_triangb_print(f, n, a, ...)

print a lower triangular array of booleans.

Parameters
  • f: [in] a file pointer (e.g. stdout, stderr, etc.)
  • n: [in] row/column dimension of nxn matrix
  • a: [in] a pointer to a boolean array
  • label: [in] optional pointer to a const char* label
  • options: [in] a pointer to a ksl_print_options_t struct containing print options. If the pointer is NULL or not present, the options are set in the global print options.

void ksl_triangb_printWithOptions(FILE *f, const int n, const bool *a, ...)