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stream printing for Pose2

release/4.3a0
Varun Agrawal 2021-01-19 15:39:37 -05:00
parent 56eb1bb808
commit 2168cd4a04
2 changed files with 11 additions and 1 deletions
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8
gtsam/geometry/Pose2.cpp
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@ -48,7 +48,13 @@ Matrix3 Pose2::matrix() const {
/* ************************************************************************* */ /* ************************************************************************* */
void Pose2::print(const string& s) const { void Pose2::print(const string& s) const {
cout << s << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl; cout << s << this << endl;
}
/* ************************************************************************* */
std::ostream &operator<<(std::ostream &os, const Pose2& pose) {
os << "(" << pose.x() << ", " << pose.y() << ", " << pose.theta() << ")";
return os;
} }
/* ************************************************************************* */ /* ************************************************************************* */

4
gtsam/geometry/Pose2.h
View File

@ -287,6 +287,10 @@ public:
*/ */
static std::pair<size_t, size_t> rotationInterval() { return std::make_pair(2, 2); } static std::pair<size_t, size_t> rotationInterval() { return std::make_pair(2, 2); }
/// Output stream operator
GTSAM_EXPORT
friend std::ostream &operator<<(std::ostream &os, const Pose2& p);
/// @} /// @}
private: private: