Merge pull request #468 from borglab/feature/imu-default-string
Default string value for printing Imu factorsrelease/4.3a0
						commit
						5b48e4123f
					
				|  | @ -167,10 +167,11 @@ gtsam::NonlinearFactor::shared_ptr CombinedImuFactor::clone() const { | |||
| //------------------------------------------------------------------------------
 | ||||
| void CombinedImuFactor::print(const string& s, | ||||
|     const KeyFormatter& keyFormatter) const { | ||||
|   cout << s << "CombinedImuFactor(" << keyFormatter(this->key1()) << "," | ||||
|       << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << "," | ||||
|       << keyFormatter(this->key4()) << "," << keyFormatter(this->key5()) << "," | ||||
|       << keyFormatter(this->key6()) << ")\n"; | ||||
|   cout << (s == "" ? s : s + "\n") << "CombinedImuFactor(" | ||||
|        << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << "," | ||||
|        << keyFormatter(this->key3()) << "," << keyFormatter(this->key4()) << "," | ||||
|        << keyFormatter(this->key5()) << "," << keyFormatter(this->key6()) | ||||
|        << ")\n"; | ||||
|   _PIM_.print("  preintegrated measurements:"); | ||||
|   this->noiseModel_->print("  noise model: "); | ||||
| } | ||||
|  |  | |||
|  | @ -303,8 +303,8 @@ public: | |||
|   GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, | ||||
|                                                const CombinedImuFactor&); | ||||
|   /// print
 | ||||
|   void print(const std::string& s, const KeyFormatter& keyFormatter = | ||||
|       DefaultKeyFormatter) const override; | ||||
|   void print(const std::string& s = "", const KeyFormatter& keyFormatter = | ||||
|                                             DefaultKeyFormatter) const override; | ||||
| 
 | ||||
|   /// equals
 | ||||
|   bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; | ||||
|  |  | |||
|  | @ -130,10 +130,10 @@ std::ostream& operator<<(std::ostream& os, const ImuFactor& f) { | |||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| void ImuFactor::print(const string& s, const KeyFormatter& keyFormatter) const { | ||||
|   cout << s << "ImuFactor(" << keyFormatter(this->key1()) << "," | ||||
|       << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) << "," | ||||
|       << keyFormatter(this->key4()) << "," << keyFormatter(this->key5()) | ||||
|       << ")\n"; | ||||
|   cout << (s == "" ? s : s + "\n") << "ImuFactor(" << keyFormatter(this->key1()) | ||||
|        << "," << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) | ||||
|        << "," << keyFormatter(this->key4()) << "," << keyFormatter(this->key5()) | ||||
|        << ")\n"; | ||||
|   cout << *this << endl; | ||||
| } | ||||
| 
 | ||||
|  | @ -226,9 +226,9 @@ std::ostream& operator<<(std::ostream& os, const ImuFactor2& f) { | |||
| //------------------------------------------------------------------------------
 | ||||
| void ImuFactor2::print(const string& s, | ||||
|     const KeyFormatter& keyFormatter) const { | ||||
|   cout << s << "ImuFactor2(" << keyFormatter(this->key1()) << "," | ||||
|       << keyFormatter(this->key2()) << "," << keyFormatter(this->key3()) | ||||
|       << ")\n"; | ||||
|   cout << (s == "" ? s : s + "\n") << "ImuFactor2(" | ||||
|        << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << "," | ||||
|        << keyFormatter(this->key3()) << ")\n"; | ||||
|   cout << *this << endl; | ||||
| } | ||||
| 
 | ||||
|  |  | |||
|  | @ -205,8 +205,8 @@ public: | |||
|   /// @name Testable
 | ||||
|   /// @{
 | ||||
|   GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const ImuFactor&); | ||||
|   void print(const std::string& s, const KeyFormatter& keyFormatter = | ||||
|       DefaultKeyFormatter) const override; | ||||
|   void print(const std::string& s = "", const KeyFormatter& keyFormatter = | ||||
|                                             DefaultKeyFormatter) const override; | ||||
|   bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; | ||||
|   /// @}
 | ||||
| 
 | ||||
|  | @ -283,8 +283,8 @@ public: | |||
|   /// @name Testable
 | ||||
|   /// @{
 | ||||
|   GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const ImuFactor2&); | ||||
|   void print(const std::string& s, const KeyFormatter& keyFormatter = | ||||
|       DefaultKeyFormatter) const override; | ||||
|   void print(const std::string& s = "", const KeyFormatter& keyFormatter = | ||||
|                                             DefaultKeyFormatter) const override; | ||||
|   bool equals(const NonlinearFactor& expected, double tol = 1e-9) const override; | ||||
|   /// @}
 | ||||
| 
 | ||||
|  |  | |||
|  | @ -26,12 +26,11 @@ using namespace std; | |||
| namespace gtsam { | ||||
| 
 | ||||
| void PreintegratedRotationParams::print(const string& s) const { | ||||
|   cout << s << endl; | ||||
|   cout << (s == "" ? s : s + "\n") << endl; | ||||
|   cout << "gyroscopeCovariance:\n[\n" << gyroscopeCovariance << "\n]" << endl; | ||||
|   if (omegaCoriolis) | ||||
|     cout << "omegaCoriolis = (" << omegaCoriolis->transpose() << ")" << endl; | ||||
|   if (body_P_sensor) | ||||
|     body_P_sensor->print("body_P_sensor"); | ||||
|   if (body_P_sensor) body_P_sensor->print("body_P_sensor"); | ||||
| } | ||||
| 
 | ||||
| bool PreintegratedRotationParams::equals( | ||||
|  |  | |||
|  | @ -46,7 +46,7 @@ ostream& operator<<(ostream& os, const PreintegrationBase& pim) { | |||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| void PreintegrationBase::print(const string& s) const { | ||||
|   cout << s << *this << endl; | ||||
|   cout << (s == "" ? s : s + "\n") << *this << endl; | ||||
| } | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
|  |  | |||
|  | @ -116,7 +116,7 @@ class GTSAM_EXPORT PreintegrationBase { | |||
|   /// @name Testable
 | ||||
|   /// @{
 | ||||
|   GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const PreintegrationBase& pim); | ||||
|   virtual void print(const std::string& s) const; | ||||
|   virtual void print(const std::string& s="") const; | ||||
|   /// @}
 | ||||
| 
 | ||||
|   /// @name Main functionality
 | ||||
|  |  | |||
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