12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added keyformatter arguments

release/4.3a0
Alex Cunningham 2012-06-18 19:33:45 +00:00
parent 509c2b4c67
commit 73c87d1b10
2 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gtsam/nonlinear/NonlinearISAM.cpp
View File

@ -104,12 +104,12 @@ Matrix NonlinearISAM::marginalCovariance(Key key) const {
}
/* ************************************************************************* */
void NonlinearISAM::print(const string& s) const {
void NonlinearISAM::print(const string& s, const KeyFormatter& keyFormatter) const {
cout << s << "ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl;
isam_.print("GaussianISAM:\n");
linPoint_.print("Linearization Point:\n");
ordering_.print("System Ordering:\n");
factors_.print("Nonlinear Graph:\n");
linPoint_.print("Linearization Point:\n", keyFormatter);
ordering_.print("System Ordering:\n", keyFormatter);
factors_.print("Nonlinear Graph:\n", keyFormatter);
}
/* ************************************************************************* */

2
gtsam/nonlinear/NonlinearISAM.h
View File

@ -86,7 +86,7 @@ public:
int reorderCounter() const { return reorderCounter_; } ///<TODO: comment
/** prints out all contents of the system */
void print(const std::string& s="") const;
void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
/** prints out clique statistics */
void printStats() const;