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Undo Point operator overloading and instead update NavState print

release/4.3a0
Varun Agrawal 2020-08-31 17:03:41 -04:00
parent 1cba2dc3e7
commit 597026f58a
5 changed files with 2 additions and 18 deletions
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6
gtsam/geometry/Point2.cpp
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@ -23,12 +23,6 @@ using namespace std;
namespace gtsam {
/* ************************************************************************* */
ostream &operator<<(ostream &os, const Point2& p) {
os << p.transpose();
return os;
}
/* ************************************************************************* */
double norm2(const Point2& p, OptionalJacobian<1,2> H) {
double r = std::sqrt(p.x() * p.x() + p.y() * p.y());

2
gtsam/geometry/Point2.h
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@ -26,8 +26,6 @@ namespace gtsam {
/// it is now possible to just typedef Point2 to Vector2
typedef Vector2 Point2;
GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point2 &p);
/// Distance of the point from the origin, with Jacobian
GTSAM_EXPORT double norm2(const Point2& p, OptionalJacobian<1, 2> H = boost::none);

6
gtsam/geometry/Point3.cpp
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@ -22,12 +22,6 @@ using namespace std;
namespace gtsam {
/* ************************************************************************* */
ostream &operator<<(ostream &os, const Point3& p) {
os << p.transpose();
return os;
}
/* ************************************************************************* */
double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian<1, 3> H1,
OptionalJacobian<1, 3> H2) {

2
gtsam/geometry/Point3.h
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@ -33,8 +33,6 @@ namespace gtsam {
/// it is now possible to just typedef Point3 to Vector3
typedef Vector3 Point3;
GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3 &p);
// Convenience typedef
typedef std::pair<Point3, Point3> Point3Pair;
GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);

4
gtsam/navigation/NavState.cpp
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@ -89,8 +89,8 @@ Matrix7 NavState::matrix() const {
//------------------------------------------------------------------------------
ostream& operator<<(ostream& os, const NavState& state) {
os << "R: " << state.attitude() << "\n";
os << "p: " << state.position() << "\n";
os << "v: " << Point3(state.velocity());
os << "p: " << state.position().transpose() << "\n";
os << "v: " << state.velocity().transpose();
return os;
}