From 95e7eea4b77cd5aa780cad2a999aa33519d968fe Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 May 2020 02:19:54 -0400
Subject: [PATCH] Demangle the type when printing

---
 gtsam/base/GenericValue.h  | 29 ++++++++++++++++++++++++++++-
 gtsam/nonlinear/Values.cpp |  2 +-
 2 files changed, 29 insertions(+), 2 deletions(-)

diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
index aee6c0e62..b4a74913b 100644
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@@ -31,6 +31,33 @@
 
 namespace gtsam {
 
+#ifdef __GNUG__
+#include <cstdlib>
+#include <cxxabi.h>
+#include <string>
+
+/// Pretty print Value type name
+static std::string demangle(const char* name) {
+  int status = -4; // some arbitrary value to eliminate the compiler warning
+  // enable c++11 by passing the flag -std=c++11 to g++
+  std::unique_ptr<char, void(*)(void*)> res {
+      abi::__cxa_demangle(name, NULL, NULL, &status),
+      std::free
+  };
+  return (status==0) ? res.get() : name ;
+}
+
+#else
+
+// does nothing if not g++
+static std::string demangle(const char* name) {
+    return name;
+}
+
+#endif
+
+
+
 /**
  * Wraps any type T so it can play as a Value
  */
@@ -83,7 +110,7 @@ public:
 
   /// Virtual print function, uses traits
   virtual void print(const std::string& str) const {
-    std::cout << "(" << typeid(T).name() << ") ";
+    std::cout << "(" << demangle(typeid(T).name()) << ") ";
     traits<T>::Print(value_, str);
   }
 
diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp
index 1bd8b3a73..c5a7c8c32 100644
--- a/gtsam/nonlinear/Values.cpp
+++ b/gtsam/nonlinear/Values.cpp
@@ -235,7 +235,7 @@ namespace gtsam {
     if(message_.empty())
       message_ =
           "Attempting to retrieve value with key \"" + DefaultKeyFormatter(key_) + "\", type stored in Values is " +
-          std::string(storedTypeId_.name()) + " but requested type was " + std::string(requestedTypeId_.name());
+          std::string(demangle(storedTypeId_.name())) + " but requested type was " + std::string(demangle(requestedTypeId_.name()));
     return message_.c_str();
   }