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Merge pull request #1655 from borglab/variable-keyformatter

release/4.3a0
Varun Agrawal 2023-10-12 16:50:37 -04:00 committed by GitHub
parent caef0de75a 3c5c500aa5
commit 5a3706c6bb
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2 changed files with 14 additions and 9 deletions
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5
gtsam/inference/Key.cpp
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file Key.h * @file Key.cpp
* @brief * @brief
* @author Richard Roberts * @author Richard Roberts
* @author Alex Cunningham * @author Alex Cunningham
@ -26,6 +26,9 @@ using namespace std;
namespace gtsam { namespace gtsam {
/// Assign default key formatter
KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
/* ************************************************************************* */ /* ************************************************************************* */
string _defaultKeyFormatter(Key key) { string _defaultKeyFormatter(Key key) {
const Symbol asSymbol(key); const Symbol asSymbol(key);

18
gtsam/inference/Key.h
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@ -37,10 +37,16 @@ using KeyFormatter = std::function<std::string(Key)>;
// Helper function for DefaultKeyFormatter // Helper function for DefaultKeyFormatter
GTSAM_EXPORT std::string _defaultKeyFormatter(Key key); GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
/// The default KeyFormatter, which is used if no KeyFormatter is passed to /**
/// a nonlinear 'print' function. Automatically detects plain integer keys * The default KeyFormatter, which is used if no KeyFormatter is passed
/// and Symbol keys. * to a 'print' function.
static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter; *
* Automatically detects plain integer keys and Symbol keys.
*
* Marked as `extern` so that it can be updated by external libraries.
*
*/
extern GTSAM_EXPORT KeyFormatter DefaultKeyFormatter;
// Helper function for Multi-robot Key Formatter // Helper function for Multi-robot Key Formatter
GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key); GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key);
@ -124,7 +130,3 @@ struct traits<Key> {
}; };
} // namespace gtsam } // namespace gtsam