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Merge pull request #754 from borglab/feature/preint-params-print 

Fix printing of preintegration params
release/4.3a0
Frank Dellaert 2021-04-23 22:30:57 -04:00 committed by GitHub
parent 301f7fe1a3 1cdc6c1db3
commit 32acaecdc9
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 5 deletions
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11
gtsam/navigation/PreintegrationBase.cpp
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@ -17,6 +17,7 @@
* @author Vadim Indelman * @author Vadim Indelman
* @author David Jensen * @author David Jensen
* @author Frank Dellaert * @author Frank Dellaert
* @author Varun Agrawal
**/ **/
#include "PreintegrationBase.h" #include "PreintegrationBase.h"
@ -35,12 +36,12 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr<Params>& p,
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
ostream& operator<<(ostream& os, const PreintegrationBase& pim) { ostream& operator<<(ostream& os, const PreintegrationBase& pim) {
os << " deltaTij " << pim.deltaTij_ << endl; os << " deltaTij = " << pim.deltaTij_ << endl;
os << " deltaRij.ypr = (" << pim.deltaRij().ypr().transpose() << ")" << endl; os << " deltaRij.ypr = (" << pim.deltaRij().ypr().transpose() << ")" << endl;
os << " deltaPij " << Point3(pim.deltaPij()) << endl; os << " deltaPij = " << pim.deltaPij().transpose() << endl;
os << " deltaVij " << Point3(pim.deltaVij()) << endl; os << " deltaVij = " << pim.deltaVij().transpose() << endl;
os << " gyrobias " << Point3(pim.biasHat_.gyroscope()) << endl; os << " gyrobias = " << pim.biasHat_.gyroscope().transpose() << endl;
os << " acc_bias " << Point3(pim.biasHat_.accelerometer()) << endl; os << " acc_bias = " << pim.biasHat_.accelerometer().transpose() << endl;
return os; return os;
} }