From 445b5834dc9a90b522e443e639a85ecf8dea02e7 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 17 Feb 2015 00:39:03 +0100
Subject: [PATCH 1/2] Use Eigen::format, now compatible with matlab, and stream
 precision affects printing.

---
 gtsam/base/Matrix.cpp           | 26 +++++++++++---------------
 gtsam/linear/JacobianFactor.cpp | 16 ++++++++++++----
 2 files changed, 23 insertions(+), 19 deletions(-)

diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index 7bcd32b9f..e6eef04d5 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -181,21 +181,17 @@ void transposeMultiplyAdd(double alpha, const Matrix& A, const Vector& e, SubVec
 
 /* ************************************************************************* */
 void print(const Matrix& A, const string &s, ostream& stream) {
-  size_t m = A.rows(), n = A.cols();
-
-  // print out all elements
-  stream << s << "[\n";
-  for( size_t i = 0 ; i < m ; i++) {
-    for( size_t j = 0 ; j < n ; j++) {
-      double aij = A(i,j);
-      if(aij != 0.0)
-        stream << setw(12) << setprecision(9) << aij << ",\t";
-      else
-        stream << "         0.0,\t";
-    }
-    stream << endl;
-  }
-  stream << "];" << endl;
+  static const Eigen::IOFormat matlab(
+      Eigen::StreamPrecision, // precision
+      0, // flags
+      " ", // coeffSeparator
+      ";\n", // rowSeparator
+      "  ",  // rowPrefix
+      "", // rowSuffix
+      "[\n", // matPrefix
+      "\n  ]" // matSuffix
+      );
+  cout << s << A.format(matlab) << endl;
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index eba06f99a..935ed40ae 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -347,13 +347,21 @@ JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph,
 /* ************************************************************************* */
 void JacobianFactor::print(const string& s,
     const KeyFormatter& formatter) const {
+  static const Eigen::IOFormat matlab(
+      Eigen::StreamPrecision, // precision
+      0, // flags
+      " ", // coeffSeparator
+      ";\n", // rowSeparator
+      "  ",  // rowPrefix
+      "", // rowSuffix
+      "[\n", // matPrefix
+      "\n  ]" // matSuffix
+      );
   if (!s.empty())
     cout << s << "\n";
   for (const_iterator key = begin(); key != end(); ++key) {
-    cout
-        << formatMatrixIndented(
-            (boost::format("  A[%1%] = ") % formatter(*key)).str(), getA(key))
-        << endl;
+    cout << boost::format("  A[%1%] = ") % formatter(*key);
+    cout << getA(key).format(matlab) << endl;
   }
   cout << formatMatrixIndented("  b = ", getb(), true) << "\n";
   if (model_)

From 0b2d4f11829433f6488b8b0886631a68d69f402a Mon Sep 17 00:00:00 2001
From: lvzhaoyang <lvzhaoyang1990@gmail.com>
Date: Thu, 22 Oct 2015 15:04:53 -0400
Subject: [PATCH 2/2] feature: change rowPrefix to an indent. Now all columns
 are aligned

---
 gtsam/base/Matrix.cpp           | 2 +-
 gtsam/linear/JacobianFactor.cpp | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index 1de27c0a2..3cafdd0ba 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -189,7 +189,7 @@ void print(const Matrix& A, const string &s, ostream& stream) {
       0, // flags
       " ", // coeffSeparator
       ";\n", // rowSeparator
-      "  ",  // rowPrefix
+	  " \t",  // rowPrefix
       "", // rowSuffix
       "[\n", // matPrefix
       "\n  ]" // matSuffix
diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index f2678d56c..d4df57298 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -349,11 +349,11 @@ void JacobianFactor::print(const string& s,
     const KeyFormatter& formatter) const {
   static const Eigen::IOFormat matlab(
       Eigen::StreamPrecision, // precision
-      0, // flags
+	  0, // flags
       " ", // coeffSeparator
       ";\n", // rowSeparator
-      "  ",  // rowPrefix
-      "", // rowSuffix
+	  "\t",  // rowPrefix
+	  "", // rowSuffix
       "[\n", // matPrefix
       "\n  ]" // matSuffix
       );