From 41b42ff6ef33935c24cc1d54a2e210a07eb4f60b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 12 Mar 2025 17:54:39 -0400
Subject: [PATCH] Print full factors in HybridNonlinearFactor

---
 gtsam/hybrid/HybridNonlinearFactor.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridNonlinearFactor.cpp b/gtsam/hybrid/HybridNonlinearFactor.cpp
index 900102e5d..9b0773073 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactor.cpp
@@ -134,10 +134,12 @@ void HybridNonlinearFactor::print(const std::string& s,
   std::cout << (s.empty() ? "" : s + " ");
   Base::print("", keyFormatter);
   std::cout << "\nHybridNonlinearFactor\n";
-  auto valueFormatter = [](const std::pair<sharedFactor, double>& v) {
+  auto valueFormatter = [&keyFormatter](const std::pair<sharedFactor, double>& v) {
     auto [factor, val] = v;
     if (factor) {
-      return "Nonlinear factor on " + std::to_string(factor->size()) + " keys";
+      RedirectCout rd;
+      factor->print("", keyFormatter);
+      return rd.str();
     } else {
       return std::string("nullptr");
     }