From b48456b871f5de53c7996a154303c49dbb5508b0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 3 Apr 2020 21:52:21 -0400
Subject: [PATCH 1/2] better matrix printing without space wastage, fixed
 notation in comment

---
 gtsam/base/Matrix.cpp  | 4 ++--
 gtsam/geometry/Pose3.h | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index f9a2e83a9..e2d8f71d1 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -144,10 +144,10 @@ void print(const Matrix& A, const string &s, ostream& stream) {
       0, // flags
       ", ", // coeffSeparator
       ";\n", // rowSeparator
-      " \t",  // rowPrefix
+      "\t",  // rowPrefix
       "", // rowSuffix
       "[\n", // matPrefix
-      "\n  ]" // matSuffix
+      "\n]" // matSuffix
       );
   cout << s << A.format(matlab) << endl;
 }
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index e90f91127..fa55f98de 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -44,7 +44,7 @@ public:
 private:
 
   Rot3 R_; ///< Rotation gRp, between global and pose frame
-  Point3 t_; ///< Translation gTp, from global origin to pose frame origin
+  Point3 t_; ///< Translation gPp, from global origin to pose frame origin
 
 public:
 

From 4e564f1abaaedb149a75d353b507938c069b0d2b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 7 May 2020 02:32:09 -0400
Subject: [PATCH 2/2] fixed pose3 test for new print format

---
 gtsam/geometry/tests/testPose3.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index ec0450abb..b19555321 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -1021,7 +1021,7 @@ TEST(Pose3, print) {
   std::cout.rdbuf(oldbuf);
 
   // Get substring corresponding to translation part
-  std::string actual = redirectStream.str().substr(47, 11);
+  std::string actual = redirectStream.str().substr(38, 11);
 
   CHECK_EQUAL(expected.str(), actual);
 }