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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
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8
gtsam/nonlinear/NonlinearISAM.cpp
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@ -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; cout << s << "ReorderInterval: " << reorderInterval_ << " Current Count: " << reorderCounter_ << endl;
isam_.print("GaussianISAM:\n"); isam_.print("GaussianISAM:\n");
linPoint_.print("Linearization Point:\n"); linPoint_.print("Linearization Point:\n", keyFormatter);
ordering_.print("System Ordering:\n"); ordering_.print("System Ordering:\n", keyFormatter);
factors_.print("Nonlinear Graph:\n"); 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 int reorderCounter() const { return reorderCounter_; } ///<TODO: comment
/** prints out all contents of the system */ /** 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 */ /** prints out clique statistics */
void printStats() const; void printStats() const;