print statistics for bayesnet and bayestree

gtsam/inference/BayesNet-inl.h

@@ -26,6 +26,7 @@
 #include <boost/assign/std/vector.hpp> // for +=
 using boost::assign::operator+=;
 
+#include <algorithm>
 #include <iostream>
 #include <fstream>
 
@@ -39,6 +40,24 @@ namespace gtsam {
 			conditional->print();
 	}
 
+  /* ************************************************************************* */
+  template<class CONDITIONAL>
+  void BayesNet<CONDITIONAL>::printStats(const std::string& s) const {
+    std::cout << s;
+    const size_t n = conditionals_.size();
+    size_t max_size = 0;
+    size_t total = 0;
+    BOOST_REVERSE_FOREACH(sharedConditional conditional, conditionals_) {
+      max_size = std::max(max_size, conditional->size());
+      total += conditional->size();
+    }
+    std::cout << s
+              << "maximum clique size = " << max_size << std::endl
+              << "average clique size = " << total / n << std::endl
+              << "density = " << 100.0 * total / (double) (n*(n+1)/2) << " %" << std::endl
+              << std::endl;
+  }
+
   /* ************************************************************************* */
   template<class CONDITIONAL>
   bool BayesNet<CONDITIONAL>::equals(const BayesNet& cbn, double tol) const {

gtsam/inference/BayesNet.h

@@ -90,6 +90,9 @@ public:
   /** print */
   void print(const std::string& s = "") const;
 
+  /** print statistics */
+  void printStats(const std::string& s = "") const;
+
   /** check equality */
   bool equals(const BayesNet& other, double tol = 1e-9) const;
 

gtsam/inference/BayesTree-inl.h

@@ -102,6 +102,18 @@ namespace gtsam {
 		}
 	}
 
+
+	/* ************************************************************************* */
+  template<class CONDITIONAL, class CLIQUE>
+  void BayesTree<CONDITIONAL,CLIQUE>::CliqueStats::print(const std::string& s) const {
+    std::cout << s
+              <<"\navg Conditional Size: " << avgConditionalSize
+              << "\nmax Conditional Size: " << maxConditionalSize
+              << "\navg Separator Size: " << avgSeparatorSize
+              << "\nmax Separator Size: " << maxSeparatorSize
+              << std::endl;
+  }
+
 	/* ************************************************************************* */
 	template<class CONDITIONAL, class CLIQUE>
 	typename BayesTree<CONDITIONAL,CLIQUE>::CliqueStats

gtsam/inference/BayesTree.h

@@ -81,6 +81,7 @@ namespace gtsam {
 			std::size_t maxConditionalSize;
 			double avgSeparatorSize;
 			std::size_t maxSeparatorSize;
+			void print(const std::string& s = "") const ;
 		};
 
 		/** store all the sizes  */

gtsam/nonlinear/NonlinearISAM.cpp

@@ -118,13 +118,7 @@ void NonlinearISAM::print(const string& s, const KeyFormatter& keyFormatter) con
 
 /* ************************************************************************* */
 void NonlinearISAM::printStats() const {
-  gtsam::GaussianISAM::CliqueData data = isam_.getCliqueData();
-  gtsam::GaussianISAM::CliqueStats stats = data.getStats();
-  cout << "\navg Conditional Size: " << stats.avgConditionalSize;
-  cout << "\nmax Conditional Size: " << stats.maxConditionalSize;
-  cout << "\navg Separator Size: " << stats.avgSeparatorSize;
-  cout << "\nmax Separator Size: " << stats.maxSeparatorSize;
-  cout << endl;
+  isam_.getCliqueData().getStats().print();
 }
 
 /* ************************************************************************* */