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Fixed print issues

release/4.3a0
dellaert 2016-02-12 00:15:49 -08:00
parent 1c920967d9
commit 1a69a71c2c
2 changed files with 6 additions and 2 deletions
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6
gtsam/geometry/Pose3.cpp
View File

@ -100,7 +100,7 @@ Vector6 Pose3::adjointTranspose(const Vector6& xi, const Vector6& y,
void Pose3::print(const string& s) const { void Pose3::print(const string& s) const {
cout << s; cout << s;
R_.print("R:\n"); R_.print("R:\n");
traits<Point3>::Print(t_, "t: "); cout << '[' << t_.x() << ", " << t_.y() << ", " << t_.z() << "]\';";
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -394,7 +394,9 @@ boost::optional<Pose3> align(const vector<Point3Pair>& pairs) {
/* ************************************************************************* */ /* ************************************************************************* */
std::ostream &operator<<(std::ostream &os, const Pose3& pose) { std::ostream &operator<<(std::ostream &os, const Pose3& pose) {
os << pose.rotation() << "\n" << pose.translation() << endl; os << pose.rotation() << "\n";
const Point3& t = pose.translation();
os << '[' << t.x() << ", " << t.y() << ", " << t.z() << "]\';\n";
return os; return os;
} }

2
gtsam/geometry/tests/testPoint3.cpp
View File

@ -84,12 +84,14 @@ TEST( Point3, dot) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
#ifndef GTSAM_USE_VECTOR3_POINTS
TEST( Point3, stream) { TEST( Point3, stream) {
Point3 p(1, 2, -3); Point3 p(1, 2, -3);
std::ostringstream os; std::ostringstream os;
os << p; os << p;
EXPECT(os.str() == "[1, 2, -3]';"); EXPECT(os.str() == "[1, 2, -3]';");
} }
#endif
//************************************************************************* //*************************************************************************
TEST (Point3, normalize) { TEST (Point3, normalize) {