From 25fd6181ac852db15abcaa610f9061ec6658856f Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 4 Jan 2023 03:30:49 -0500 Subject: [PATCH] rename getAssignment to assignment, fix printing --- gtsam/hybrid/HybridNonlinearISAM.cpp | 6 ++++-- gtsam/hybrid/HybridNonlinearISAM.h | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/gtsam/hybrid/HybridNonlinearISAM.cpp b/gtsam/hybrid/HybridNonlinearISAM.cpp index 57e0daf8d..d6b83e30d 100644 --- a/gtsam/hybrid/HybridNonlinearISAM.cpp +++ b/gtsam/hybrid/HybridNonlinearISAM.cpp @@ -99,9 +99,11 @@ void HybridNonlinearISAM::print(const string& s, const KeyFormatter& keyFormatter) const { cout << s << "ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl; - isam_.print("HybridGaussianISAM:\n", keyFormatter); + std::cout << "HybridGaussianISAM:" << std::endl; + isam_.print("", keyFormatter); linPoint_.print("Linearization Point:\n", keyFormatter); - factors_.print("Nonlinear Graph:\n", keyFormatter); + std::cout << "Nonlinear Graph:" << std::endl; + factors_.print("", keyFormatter); } /* ************************************************************************* */ diff --git a/gtsam/hybrid/HybridNonlinearISAM.h b/gtsam/hybrid/HybridNonlinearISAM.h index 47aa81c55..53bacb0ff 100644 --- a/gtsam/hybrid/HybridNonlinearISAM.h +++ b/gtsam/hybrid/HybridNonlinearISAM.h @@ -90,7 +90,7 @@ class GTSAM_EXPORT HybridNonlinearISAM { const Values& getLinearizationPoint() const { return linPoint_; } /** Return the current discrete assignment */ - const DiscreteValues& getAssignment() const { return assignment_; } + const DiscreteValues& assignment() const { return assignment_; } /** get underlying nonlinear graph */ const HybridNonlinearFactorGraph& getFactorsUnsafe() const {