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More compact and informative trace/record printing

release/4.3a0
Frank Dellaert 2015-07-08 23:52:25 -07:00
parent 2bc0d580e7
commit 4516c67389
2 changed files with 16 additions and 15 deletions
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1
gtsam/nonlinear/internal/ExecutionTrace.h
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@ -119,7 +119,6 @@ public:
else if (kind == Leaf) else if (kind == Leaf)
std::cout << indent << "Leaf, key = " << content.key << std::endl; std::cout << indent << "Leaf, key = " << content.key << std::endl;
else if (kind == Function) { else if (kind == Function) {
std::cout << indent << "Function" << std::endl;
content.ptr->print(indent + " "); content.ptr->print(indent + " ");
} }
} }

28
gtsam/nonlinear/internal/ExpressionNode.h
View File

@ -211,8 +211,16 @@ struct Jacobian {
typedef Eigen::Matrix<double, traits<T>::dimension, traits<A>::dimension> type; typedef Eigen::Matrix<double, traits<T>::dimension, traits<A>::dimension> type;
}; };
// Eigen format for printing Jacobians // Helper function for printing Jacobians with compact Eigen format, and trace
template <class T, class A>
static void PrintJacobianAndTrace(const std::string& indent,
const typename Jacobian<T, A>::type& dTdA,
const ExecutionTrace<A> trace) {
static const Eigen::IOFormat kMatlabFormat(0, 1, " ", "; ", "", "", "[", "]"); static const Eigen::IOFormat kMatlabFormat(0, 1, " ", "; ", "", "", "[", "]");
std::cout << indent << "d(" << typeid(T).name() << ")/d(" << typeid(A).name()
<< ") = " << dTdA.format(kMatlabFormat) << std::endl;
trace.print(indent);
}
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
/// Unary Function Expression /// Unary Function Expression
@ -268,8 +276,7 @@ public:
/// Print to std::cout /// Print to std::cout
void print(const std::string& indent) const { void print(const std::string& indent) const {
std::cout << indent << "UnaryExpression::Record {" << std::endl; std::cout << indent << "UnaryExpression::Record {" << std::endl;
std::cout << indent << dTdA1.format(kMatlabFormat) << std::endl; PrintJacobianAndTrace<T,A1>(indent, dTdA1, trace1);
trace1.print(indent);
std::cout << indent << "}" << std::endl; std::cout << indent << "}" << std::endl;
} }
@ -388,10 +395,8 @@ public:
/// Print to std::cout /// Print to std::cout
void print(const std::string& indent) const { void print(const std::string& indent) const {
std::cout << indent << "BinaryExpression::Record {" << std::endl; std::cout << indent << "BinaryExpression::Record {" << std::endl;
std::cout << indent << dTdA1.format(kMatlabFormat) << std::endl; PrintJacobianAndTrace<T,A1>(indent, dTdA1, trace1);
trace1.print(indent); PrintJacobianAndTrace<T,A2>(indent, dTdA2, trace2);
std::cout << indent << dTdA2.format(kMatlabFormat) << std::endl;
trace2.print(indent);
std::cout << indent << "}" << std::endl; std::cout << indent << "}" << std::endl;
} }
@ -502,12 +507,9 @@ public:
/// Print to std::cout /// Print to std::cout
void print(const std::string& indent) const { void print(const std::string& indent) const {
std::cout << indent << "TernaryExpression::Record {" << std::endl; std::cout << indent << "TernaryExpression::Record {" << std::endl;
std::cout << indent << dTdA1.format(kMatlabFormat) << std::endl; PrintJacobianAndTrace<T,A1>(indent, dTdA1, trace1);
trace1.print(indent); PrintJacobianAndTrace<T,A2>(indent, dTdA2, trace2);
std::cout << indent << dTdA2.format(kMatlabFormat) << std::endl; PrintJacobianAndTrace<T,A3>(indent, dTdA3, trace3);
trace2.print(indent);
std::cout << indent << dTdA3.format(kMatlabFormat) << std::endl;
trace3.print(indent);
std::cout << indent << "}" << std::endl; std::cout << indent << "}" << std::endl;
} }