From 94e98c24576ba2c83fa8f9423ccebb5dcb46fe64 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Mon, 27 May 2024 18:10:13 +0200
Subject: [PATCH] matrix: change matrix.print() back to pring all elements,
 don't assume symmetric matrix

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/lib/matrix/matrix/Matrix.hpp | 41 +++++++++++++++++++++++++++++++-
 1 file changed, 40 insertions(+), 1 deletion(-)

diff --git a/src/lib/matrix/matrix/Matrix.hpp b/src/lib/matrix/matrix/Matrix.hpp
index 14400683f0..bc53b21621 100644
--- a/src/lib/matrix/matrix/Matrix.hpp
+++ b/src/lib/matrix/matrix/Matrix.hpp
@@ -387,7 +387,7 @@ public:
 		}
 	}
 
-	void print(float eps = 1e-9) const
+	void print_symmetric(float eps = 1e-9) const
 	{
 		// print column numbering
 		if (N > 1) {
@@ -435,6 +435,45 @@ public:
 		}
 	}
 
+	void print(float eps = 1e-9) const
+	{
+		// print column numbering
+		if (N > 1) {
+			printf("  ");
+
+			for (unsigned i = 0; i < N; i++) {
+				printf("|%2u      ", i);
+
+			}
+
+			printf("\n");
+		}
+
+		const Matrix<Type, M, N> &self = *this;
+
+		for (unsigned i = 0; i < M; i++) {
+			printf("%2u|", i); // print row numbering
+
+			for (unsigned j = 0; j < N; j++) {
+				double d = static_cast<double>(self(i, j));
+
+				// avoid -0.0 for display
+				if (fabs(d - 0.0) < (double)eps) {
+					// print fixed width zero
+					printf(" 0       ");
+
+				} else if ((fabs(d) < 1e-4) || (fabs(d) >= 10.0)) {
+					printf("% .1e ", d);
+
+				} else {
+					printf("% 6.5f ", d);
+				}
+			}
+
+			printf("\n");
+		}
+	}
+
 	Matrix<Type, N, M> transpose() const
 	{
 		Matrix<Type, N, M> res;