Started print formatter

gtsam/base/StringFormatter.cpp

@@ -0,0 +1,23 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file StringFormatter.cpp
+ * @brief 
+ * @author Richard Roberts
+ * @date Feb 19, 2012
+ */
+
+#include "StringFormatter.h"
+
+namespace gtsam {
+
+} /* namespace gtsam */

gtsam/base/StringFormatter.h

@@ -0,0 +1,36 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file StringFormatter.h
+ * @brief 
+ * @author Richard Roberts
+ * @date Feb 19, 2012
+ */
+
+#pragma once
+
+namespace gtsam {
+
+  /**
+   *
+   */
+  class StringFormatter {
+
+  public:
+
+    virtual ~StringFormatter() {}
+
+    virtual std::string keyToString(Key key) = 0;
+
+  };
+
+} /* namespace gtsam */

gtsam/nonlinear/NonlinearFactor.h

@@ -24,6 +24,7 @@
 #include <limits>
 
 #include <boost/serialization/base_object.hpp>
+#include <boost/function.hpp>
 
 #include <gtsam/inference/Factor-inl.h>
 #include <gtsam/inference/IndexFactor.h>
@@ -78,7 +79,8 @@ public:
 	/// @{
 
   /** print */
-  virtual void print(const std::string& s = "") const {
+  virtual void print(const std::string& s = "",
+      const boost::function<std::string(Key)>& keyFormatter = &Symbol::format) const {
     std::cout << s << ": NonlinearFactor\n";
   }
 

gtsam/nonlinear/Symbol.h

@@ -119,6 +119,11 @@ public:
     return (*this) == expected;
   }
 
+  /** Format function that can be passed to print functions in nonlinear */
+  static std::string format(Key key) {
+    return (std::string)Symbol(key);
+  }
+
   /** Retrieve key character */
   unsigned char chr() const {
     return c_;