From 36ab16855875e097103d321c3dde856d11b93dcd Mon Sep 17 00:00:00 2001 From: Gerry Chen Date: Thu, 8 Apr 2021 05:01:14 -0400 Subject: [PATCH] update gtsam.i print function declarations --- gtsam/gtsam.i | 178 ++++++++++++++++++++++++++++---------------------- 1 file changed, 100 insertions(+), 78 deletions(-) diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i index 27f2aa924..aa706a7f4 100644 --- a/gtsam/gtsam.i +++ b/gtsam/gtsam.i @@ -47,7 +47,7 @@ class KeySet { KeySet(const gtsam::KeyList& list); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::KeySet& other) const; // common STL methods @@ -221,7 +221,7 @@ virtual class Value { // No constructors because this is an abstract class // Testable - void print(string s) const; + void print(string s = "") const; // Manifold size_t dim() const; @@ -245,7 +245,7 @@ class Point2 { Point2(Vector v); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Point2& point, double tol) const; // Group @@ -298,7 +298,7 @@ class StereoPoint2 { StereoPoint2(double uL, double uR, double v); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::StereoPoint2& point, double tol) const; // Group @@ -342,7 +342,7 @@ class Point3 { Point3(Vector v); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Point3& p, double tol) const; // Group @@ -379,7 +379,7 @@ class Rot2 { static gtsam::Rot2 fromCosSin(double c, double s); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Rot2& rot, double tol) const; // Group @@ -430,7 +430,7 @@ class SO3 { static gtsam::SO3 ClosestTo(const Matrix M); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::SO3& other, double tol) const; // Group @@ -460,7 +460,7 @@ class SO4 { static gtsam::SO4 FromMatrix(Matrix R); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::SO4& other, double tol) const; // Group @@ -490,7 +490,7 @@ class SOn { static gtsam::SOn Lift(size_t n, Matrix R); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::SOn& other, double tol) const; // Group @@ -551,7 +551,7 @@ class Rot3 { static gtsam::Rot3 ClosestTo(const Matrix M); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Rot3& rot, double tol) const; // Group @@ -608,7 +608,7 @@ class Pose2 { Pose2(Vector v); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Pose2& pose, double tol) const; // Group @@ -668,7 +668,7 @@ class Pose3 { Pose3(Matrix mat); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Pose3& pose, double tol) const; // Group @@ -744,7 +744,7 @@ class Unit3 { Unit3(const gtsam::Point3& pose); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Unit3& pose, double tol) const; // Other functionality @@ -774,7 +774,7 @@ class EssentialMatrix { EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::EssentialMatrix& pose, double tol) const; // Manifold @@ -799,7 +799,7 @@ class Cal3_S2 { Cal3_S2(double fov, int w, int h); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Cal3_S2& rhs, double tol) const; // Manifold @@ -836,7 +836,7 @@ virtual class Cal3DS2_Base { Cal3DS2_Base(); // Testable - void print(string s) const; + void print(string s = "") const; // Standard Interface double fx() const; @@ -922,7 +922,7 @@ class Cal3_S2Stereo { Cal3_S2Stereo(Vector v); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const; // Standard Interface @@ -943,7 +943,7 @@ class Cal3Bundler { Cal3Bundler(double fx, double k1, double k2, double u0, double v0, double tol); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::Cal3Bundler& rhs, double tol) const; // Manifold @@ -983,7 +983,7 @@ class CalibratedCamera { static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::CalibratedCamera& camera, double tol) const; // Manifold @@ -1022,7 +1022,7 @@ class PinholeCamera { const gtsam::Point3& upVector, const CALIBRATION& K); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const This& camera, double tol) const; // Standard Interface @@ -1097,7 +1097,7 @@ class StereoCamera { StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::StereoCamera& camera, double tol) const; // Standard Interface @@ -1160,7 +1160,8 @@ virtual class SymbolicFactor { // From Factor size_t size() const; - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::SymbolicFactor& other, double tol) const; gtsam::KeyVector keys(); }; @@ -1173,7 +1174,8 @@ virtual class SymbolicFactorGraph { // From FactorGraph void push_back(gtsam::SymbolicFactor* factor); - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const; size_t size() const; bool exists(size_t idx) const; @@ -1223,7 +1225,8 @@ virtual class SymbolicConditional : gtsam::SymbolicFactor { static gtsam::SymbolicConditional FromKeys(const gtsam::KeyVector& keys, size_t nrFrontals); // Testable - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::SymbolicConditional& other, double tol) const; // Standard interface @@ -1236,7 +1239,8 @@ class SymbolicBayesNet { SymbolicBayesNet(); SymbolicBayesNet(const gtsam::SymbolicBayesNet& other); // Testable - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::SymbolicBayesNet& other, double tol) const; // Standard interface @@ -1257,7 +1261,8 @@ class SymbolicBayesTree { SymbolicBayesTree(const gtsam::SymbolicBayesTree& other); // Testable - void print(string s); + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter); bool equals(const gtsam::SymbolicBayesTree& other, double tol) const; //Standard Interface @@ -1279,7 +1284,8 @@ class SymbolicBayesTree { // SymbolicBayesTreeClique(const pair& result) : Base(result) {} // // bool equals(const This& other, double tol) const; -// void print(string s) const; +// void print(string s = "", +// gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; // void printTree() const; // Default indent of "" // void printTree(string indent) const; // size_t numCachedSeparatorMarginals() const; @@ -1313,7 +1319,8 @@ class VariableIndex { // Testable bool equals(const gtsam::VariableIndex& other, double tol) const; - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; // Standard interface size_t size() const; @@ -1328,7 +1335,7 @@ class VariableIndex { namespace noiseModel { #include virtual class Base { - void print(string s) const; + void print(string s = "") const; // Methods below are available for all noise models. However, can't add them // because wrap (incorrectly) thinks robust classes derive from this Base as well. // bool isConstrained() const; @@ -1411,7 +1418,7 @@ virtual class Unit : gtsam::noiseModel::Isotropic { namespace mEstimator { virtual class Base { - void print(string s) const; + void print(string s = "") const; }; virtual class Null: gtsam::noiseModel::mEstimator::Base { @@ -1551,7 +1558,8 @@ class VectorValues { size_t size() const; size_t dim(size_t j) const; bool exists(size_t j) const; - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::VectorValues& expected, double tol) const; void insert(size_t j, Vector value); Vector vector() const; @@ -1582,7 +1590,8 @@ class VectorValues { #include virtual class GaussianFactor { gtsam::KeyVector keys() const; - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; double error(const gtsam::VectorValues& c) const; gtsam::GaussianFactor* clone() const; @@ -1610,7 +1619,8 @@ virtual class JacobianFactor : gtsam::GaussianFactor { JacobianFactor(const gtsam::GaussianFactorGraph& graph); //Testable - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; void printKeys(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; size_t size() const; @@ -1659,7 +1669,8 @@ virtual class HessianFactor : gtsam::GaussianFactor { //Testable size_t size() const; - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; void printKeys(string s) const; bool equals(const gtsam::GaussianFactor& lf, double tol) const; double error(const gtsam::VectorValues& c) const; @@ -1684,7 +1695,8 @@ class GaussianFactorGraph { GaussianFactorGraph(const gtsam::GaussianBayesTree& bayesTree); // From FactorGraph - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::GaussianFactorGraph& lfgraph, double tol) const; size_t size() const; gtsam::GaussianFactor* at(size_t idx) const; @@ -1775,7 +1787,8 @@ virtual class GaussianConditional : gtsam::JacobianFactor { size_t name2, Matrix T); //Standard Interface - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::GaussianConditional &cg, double tol) const; //Advanced Interface @@ -1797,7 +1810,8 @@ virtual class GaussianDensity : gtsam::GaussianConditional { GaussianDensity(size_t key, Vector d, Matrix R, const gtsam::noiseModel::Diagonal* sigmas); //Standard Interface - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::GaussianDensity &cg, double tol) const; Vector mean() const; Matrix covariance() const; @@ -1810,7 +1824,8 @@ virtual class GaussianBayesNet { GaussianBayesNet(const gtsam::GaussianConditional* conditional); // Testable - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::GaussianBayesNet& other, double tol) const; size_t size() const; @@ -1845,7 +1860,8 @@ virtual class GaussianBayesTree { GaussianBayesTree(); GaussianBayesTree(const gtsam::GaussianBayesTree& other); bool equals(const gtsam::GaussianBayesTree& other, double tol) const; - void print(string s); + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter); size_t size() const; bool empty() const; size_t numCachedSeparatorMarginals() const; @@ -1871,7 +1887,7 @@ class Errors { Errors(const gtsam::VectorValues& V); //Testable - void print(string s); + void print(string s = "Errors"); bool equals(const gtsam::Errors& expected, double tol) const; }; @@ -1890,7 +1906,6 @@ class GaussianISAM { virtual class IterativeOptimizationParameters { string getVerbosity() const; void setVerbosity(string s) ; - void print() const; }; //virtual class IterativeSolver { @@ -1912,7 +1927,6 @@ virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParamete void setReset(int value); void setEpsilon_rel(double value); void setEpsilon_abs(double value); - void print() const; }; #include @@ -1927,14 +1941,13 @@ virtual class DummyPreconditionerParameters : gtsam::PreconditionerParameters { #include virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters { PCGSolverParameters(); - void print(string s); + void print(string s = ""); void setPreconditionerParams(gtsam::PreconditionerParameters* preconditioner); }; #include virtual class SubgraphSolverParameters : gtsam::ConjugateGradientParameters { SubgraphSolverParameters(); - void print() const; }; virtual class SubgraphSolver { @@ -1948,7 +1961,7 @@ class KalmanFilter { KalmanFilter(size_t n); // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); gtsam::GaussianDensity* init(Vector x0, Matrix P0); - void print(string s) const; + void print(string s = "") const; static size_t step(gtsam::GaussianDensity* p); gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ); @@ -1974,7 +1987,7 @@ class Symbol { Symbol(size_t key); size_t key() const; - void print(const string& s) const; + void print(const string& s = "") const; bool equals(const gtsam::Symbol& expected, double tol) const; char chr() const; @@ -2039,7 +2052,7 @@ class LabeledSymbol { gtsam::LabeledSymbol newChr(unsigned char c) const; gtsam::LabeledSymbol newLabel(unsigned char label) const; - void print(string s) const; + void print(string s = "") const; }; size_t mrsymbol(unsigned char c, unsigned char label, size_t j); @@ -2054,7 +2067,8 @@ class Ordering { Ordering(const gtsam::Ordering& other); // Testable - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::Ordering& ord, double tol) const; // Standard interface @@ -2075,7 +2089,8 @@ class NonlinearFactorGraph { NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph); // FactorGraph - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const; size_t size() const; bool empty() const; @@ -2123,7 +2138,8 @@ virtual class NonlinearFactor { // Factor base class size_t size() const; gtsam::KeyVector keys() const; - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; void printKeys(string s) const; // NonlinearFactor bool equals(const gtsam::NonlinearFactor& other, double tol) const; @@ -2153,7 +2169,8 @@ class Values { void clear(); size_t dim() const; - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::Values& other, double tol) const; void insert(const gtsam::Values& values); @@ -2242,7 +2259,8 @@ class Marginals { Marginals(const gtsam::GaussianFactorGraph& gfgraph, const gtsam::VectorValues& solutionvec); - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; Matrix marginalCovariance(size_t variable) const; Matrix marginalInformation(size_t variable) const; gtsam::JointMarginal jointMarginalCovariance(const gtsam::KeyVector& variables) const; @@ -2252,8 +2270,8 @@ class Marginals { class JointMarginal { Matrix at(size_t iVariable, size_t jVariable) const; Matrix fullMatrix() const; - void print(string s) const; - void print() const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; }; #include @@ -2296,7 +2314,7 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor { #include virtual class NonlinearOptimizerParams { NonlinearOptimizerParams(); - void print(string s) const; + void print(string s = "") const; int getMaxIterations() const; double getRelativeErrorTol() const; @@ -2407,14 +2425,14 @@ virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer { LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues); LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::LevenbergMarquardtParams& params); double lambda() const; - void print(string str) const; + void print(string s = "") const; }; #include class ISAM2GaussNewtonParams { ISAM2GaussNewtonParams(); - void print(string str) const; + void print(string s = "") const; /** Getters and Setters for all properties */ double getWildfireThreshold() const; @@ -2424,7 +2442,7 @@ class ISAM2GaussNewtonParams { class ISAM2DoglegParams { ISAM2DoglegParams(); - void print(string str) const; + void print(string s = "") const; /** Getters and Setters for all properties */ double getWildfireThreshold() const; @@ -2460,7 +2478,7 @@ class ISAM2ThresholdMap { class ISAM2Params { ISAM2Params(); - void print(string str) const; + void print(string s = "") const; /** Getters and Setters for all properties */ void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& gauss_newton__params); @@ -2490,13 +2508,14 @@ class ISAM2Clique { //Standard Interface Vector gradientContribution() const; - void print(string s); + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter); }; class ISAM2Result { ISAM2Result(); - void print(string str) const; + void print(string s = "") const; /** Getters and Setters for all properties */ size_t getVariablesRelinearized() const; @@ -2512,7 +2531,7 @@ class ISAM2 { ISAM2(const gtsam::ISAM2& other); bool equals(const gtsam::ISAM2& other, double tol) const; - void print(string s) const; + void print(string s = "") const; void printStats() const; void saveGraph(string s) const; @@ -2544,7 +2563,8 @@ class ISAM2 { class NonlinearISAM { NonlinearISAM(); NonlinearISAM(int reorderInterval); - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; void printStats() const; void saveGraph(string s) const; gtsam::Values estimate() const; @@ -2682,7 +2702,7 @@ class BearingRange { static This Measure(const POSE& pose, const POINT& point); static BEARING MeasureBearing(const POSE& pose, const POINT& point); static RANGE MeasureRange(const POSE& pose, const POINT& point); - void print(string s) const; + void print(string s = "") const; }; typedef gtsam::BearingRange BearingRange2D; @@ -3019,7 +3039,6 @@ class ShonanAveragingParameters2 { bool getUseHuber() const; void setCertifyOptimality(bool value); bool getCertifyOptimality() const; - void print() const; }; class ShonanAveragingParameters3 { @@ -3040,7 +3059,6 @@ class ShonanAveragingParameters3 { bool getUseHuber() const; void setCertifyOptimality(bool value); bool getCertifyOptimality() const; - void print() const; }; class ShonanAveraging2 { @@ -3170,7 +3188,7 @@ class ConstantBias { ConstantBias(Vector biasAcc, Vector biasGyro); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::imuBias::ConstantBias& expected, double tol) const; // Group @@ -3210,7 +3228,7 @@ class NavState { NavState(const gtsam::Pose3& pose, Vector v); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::NavState& expected, double tol) const; // Access @@ -3228,7 +3246,7 @@ virtual class PreintegratedRotationParams { PreintegratedRotationParams(); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::PreintegratedRotationParams& expected, double tol); void setGyroscopeCovariance(Matrix cov); @@ -3251,7 +3269,7 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams { static gtsam::PreintegrationParams* MakeSharedU(); // default g = 9.81 // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::PreintegrationParams& expected, double tol); void setAccelerometerCovariance(Matrix cov); @@ -3271,7 +3289,7 @@ class PreintegratedImuMeasurements { const gtsam::imuBias::ConstantBias& bias); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::PreintegratedImuMeasurements& expected, double tol); // Standard Interface @@ -3314,7 +3332,7 @@ virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams { static gtsam::PreintegrationCombinedParams* MakeSharedU(); // default g = 9.81 // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::PreintegrationCombinedParams& expected, double tol); void setBiasAccCovariance(Matrix cov); @@ -3333,7 +3351,7 @@ class PreintegratedCombinedMeasurements { PreintegratedCombinedMeasurements(const gtsam::PreintegrationCombinedParams* params, const gtsam::imuBias::ConstantBias& bias); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::PreintegratedCombinedMeasurements& expected, double tol); @@ -3374,7 +3392,7 @@ class PreintegratedAhrsMeasurements { PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs); // Testable - void print(string s) const; + void print(string s = "") const; bool equals(const gtsam::PreintegratedAhrsMeasurements& expected, double tol); // get Data @@ -3413,7 +3431,8 @@ virtual class Rot3AttitudeFactor : gtsam::NonlinearFactor{ const gtsam::Unit3& bRef); Rot3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model); Rot3AttitudeFactor(); - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::NonlinearFactor& expected, double tol) const; gtsam::Unit3 nZ() const; gtsam::Unit3 bRef() const; @@ -3426,7 +3445,8 @@ virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor { Pose3AttitudeFactor(size_t key, const gtsam::Unit3& nZ, const gtsam::noiseModel::Diagonal* model); Pose3AttitudeFactor(); - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::NonlinearFactor& expected, double tol) const; gtsam::Unit3 nZ() const; gtsam::Unit3 bRef() const; @@ -3438,7 +3458,8 @@ virtual class GPSFactor : gtsam::NonlinearFactor{ const gtsam::noiseModel::Base* model); // Testable - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::GPSFactor& expected, double tol); // Standard Interface @@ -3450,7 +3471,8 @@ virtual class GPSFactor2 : gtsam::NonlinearFactor { const gtsam::noiseModel::Base* model); // Testable - void print(string s) const; + void print(string s = "", + gtsam::KeyFormatter keyFormatter = gtsam::DefaultKeyFormatter) const; bool equals(const gtsam::GPSFactor2& expected, double tol); // Standard Interface