From 60e3321da35ec4d8536da91e528db7adbf1b4812 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 7 Jun 2022 14:11:49 -0400
Subject: [PATCH] some formatting and improved printing

---
 gtsam/hybrid/GaussianMixture.cpp      | 14 ++++++--------
 gtsam/hybrid/HybridDiscreteFactor.cpp |  2 +-
 gtsam/hybrid/HybridGaussianFactor.cpp |  2 +-
 3 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 3d4eb79fa..b04800d21 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -36,8 +36,7 @@ GaussianMixture::GaussianMixture(
       conditionals_(conditionals) {}
 
 /* *******************************************************************************/
-const GaussianMixture::Conditionals &
-GaussianMixture::conditionals() {
+const GaussianMixture::Conditionals &GaussianMixture::conditionals() {
   return conditionals_;
 }
 
@@ -48,8 +47,8 @@ GaussianMixture GaussianMixture::FromConditionals(
     const std::vector<GaussianConditional::shared_ptr> &conditionalsList) {
   Conditionals dt(discreteParents, conditionalsList);
 
-  return GaussianMixture(continuousFrontals, continuousParents,
-                                    discreteParents, dt);
+  return GaussianMixture(continuousFrontals, continuousParents, discreteParents,
+                         dt);
 }
 
 /* *******************************************************************************/
@@ -66,8 +65,7 @@ GaussianMixture::Sum GaussianMixture::add(
 }
 
 /* *******************************************************************************/
-GaussianMixture::Sum
-GaussianMixture::asGaussianFactorGraphTree() const {
+GaussianMixture::Sum GaussianMixture::asGaussianFactorGraphTree() const {
   auto lambda = [](const GaussianFactor::shared_ptr &factor) {
     GaussianFactorGraph result;
     result.push_back(factor);
@@ -106,13 +104,13 @@ bool GaussianMixture::equals(const HybridFactor &lf, double tol) const {
 
 /* *******************************************************************************/
 void GaussianMixture::print(const std::string &s,
-                                       const KeyFormatter &formatter) const {
+                            const KeyFormatter &formatter) const {
   std::cout << s;
   if (isContinuous()) std::cout << "Continuous ";
   if (isDiscrete()) std::cout << "Discrete ";
   if (isHybrid()) std::cout << "Hybrid ";
   BaseConditional::print("", formatter);
-  std::cout << "\nDiscrete Keys = ";
+  std::cout << " Discrete Keys = ";
   for (auto &dk : discreteKeys()) {
     std::cout << "(" << formatter(dk.first) << ", " << dk.second << "), ";
   }
diff --git a/gtsam/hybrid/HybridDiscreteFactor.cpp b/gtsam/hybrid/HybridDiscreteFactor.cpp
index 2bdcdee8c..0455e1e90 100644
--- a/gtsam/hybrid/HybridDiscreteFactor.cpp
+++ b/gtsam/hybrid/HybridDiscreteFactor.cpp
@@ -47,7 +47,7 @@ bool HybridDiscreteFactor::equals(const HybridFactor &lf, double tol) const {
 void HybridDiscreteFactor::print(const std::string &s,
                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  inner_->print("inner: ", formatter);
+  inner_->print("\n", formatter);
 };
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index 59d20fb79..4d7490e49 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -41,7 +41,7 @@ bool HybridGaussianFactor::equals(const HybridFactor &other, double tol) const {
 void HybridGaussianFactor::print(const std::string &s,
                                  const KeyFormatter &formatter) const {
   HybridFactor::print(s, formatter);
-  inner_->print("inner: ", formatter);
+  inner_->print("\n", formatter);
 };
 
 }  // namespace gtsam