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fixed printing

release/4.3a0
Frank Dellaert 2012-06-10 04:24:12 +00:00
parent 44530b2291
commit 17a2793a38
1 changed files with 15 additions and 14 deletions
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29
gtsam/nonlinear/NonlinearISAM.cpp
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@ -25,10 +25,12 @@
#include <iostream> #include <iostream>
using namespace std;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void NonlinearISAM::saveGraph(const std::string& s) const { void NonlinearISAM::saveGraph(const string& s) const {
isam_.saveGraph(s); isam_.saveGraph(s);
} }
@ -67,7 +69,7 @@ void NonlinearISAM::update(const NonlinearFactorGraph& newFactors,
/* ************************************************************************* */ /* ************************************************************************* */
void NonlinearISAM::reorder_relinearize() { void NonlinearISAM::reorder_relinearize() {
// std::cout << "Reordering, relinearizing..." << std::endl; // cout << "Reordering, relinearizing..." << endl;
if(factors_.size() > 0) { if(factors_.size() > 0) {
// Obtain the new linearization point // Obtain the new linearization point
@ -104,24 +106,23 @@ Matrix NonlinearISAM::marginalCovariance(Key key) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
void NonlinearISAM::print(const std::string& s) const { void NonlinearISAM::print(const string& s) const {
std::cout << "ISAM - " << s << ":" << std::endl; cout s << "ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl;
std::cout << " ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << std::endl; isam_.print("GaussianISAM:\n");
isam_.print("GaussianISAM"); linPoint_.print("Linearization Point:\n");
linPoint_.print("Linearization Point"); ordering_.print("System Ordering:\n");
ordering_.print("System Ordering"); factors_.print("Nonlinear Graph:\n");
factors_.print("Nonlinear Graph");
} }
/* ************************************************************************* */ /* ************************************************************************* */
void NonlinearISAM::printStats() const { void NonlinearISAM::printStats() const {
gtsam::GaussianISAM::CliqueData data = isam_.getCliqueData(); gtsam::GaussianISAM::CliqueData data = isam_.getCliqueData();
gtsam::GaussianISAM::CliqueStats stats = data.getStats(); gtsam::GaussianISAM::CliqueStats stats = data.getStats();
std::cout << "\navg Conditional Size: " << stats.avgConditionalSize; cout << "\navg Conditional Size: " << stats.avgConditionalSize;
std::cout << "\nmax Conditional Size: " << stats.maxConditionalSize; cout << "\nmax Conditional Size: " << stats.maxConditionalSize;
std::cout << "\navg Separator Size: " << stats.avgSeparatorSize; cout << "\navg Separator Size: " << stats.avgSeparatorSize;
std::cout << "\nmax Separator Size: " << stats.maxSeparatorSize; cout << "\nmax Separator Size: " << stats.maxSeparatorSize;
std::cout << std::endl; cout << endl;
} }
/* ************************************************************************* */ /* ************************************************************************* */