From 73c87d1b1087d8ba27c4fc430a5ff381395514bf Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Mon, 18 Jun 2012 19:33:45 +0000
Subject: [PATCH] Added keyformatter arguments

---
 gtsam/nonlinear/NonlinearISAM.cpp | 8 ++++----
 gtsam/nonlinear/NonlinearISAM.h   | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp
index a1700beca..6820b3e05 100644
--- a/gtsam/nonlinear/NonlinearISAM.cpp
+++ b/gtsam/nonlinear/NonlinearISAM.cpp
@@ -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);
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/nonlinear/NonlinearISAM.h b/gtsam/nonlinear/NonlinearISAM.h
index d2ca75c42..7a7b9cd2c 100644
--- a/gtsam/nonlinear/NonlinearISAM.h
+++ b/gtsam/nonlinear/NonlinearISAM.h
@@ -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;