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Merge pull request #1147 from borglab/fix/gaussian-conditional-print

release/4.3a0
Varun Agrawal 2022-03-30 19:07:13 -04:00 committed by GitHub
parent 416058d59d 00d8e5610c
commit a7c2bc54e0
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 27 additions and 11 deletions
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13
gtsam/linear/GaussianConditional.cpp
View File

@ -91,13 +91,18 @@ namespace gtsam {
void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const {
cout << s << " p(";
for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
cout << (boost::format("%1%")%(formatter(*it))).str() << " ";
cout << (boost::format("%1%") % (formatter(*it))).str()
<< (nrFrontals() > 1 ? " " : "");
}
cout << "|";
for (const_iterator it = beginParents(); it != endParents(); ++it) {
cout << " " << (boost::format("%1%")%(formatter(*it))).str();
if (nrParents()) {
cout << " |";
for (const_iterator it = beginParents(); it != endParents(); ++it) {
cout << " " << (boost::format("%1%") % (formatter(*it))).str();
}
}
cout << ")" << endl;
cout << formatMatrixIndented(" R = ", R()) << endl;
for (const_iterator it = beginParents() ; it != endParents() ; ++it) {
cout << formatMatrixIndented((boost::format(" S[%1%] = ")%(formatter(*it))).str(), getA(it))

5
gtsam/linear/GaussianConditional.h
View File

@ -109,8 +109,9 @@ namespace gtsam {
/// @{
/** print */
void print(const std::string& = "GaussianConditional",
const KeyFormatter& formatter = DefaultKeyFormatter) const override;
void print(
const std::string& = "GaussianConditional",
const KeyFormatter& formatter = DefaultKeyFormatter) const override;
/** equals function */
bool equals(const GaussianFactor&cg, double tol = 1e-9) const override;

20
gtsam/linear/tests/testGaussianConditional.cpp
View File

@ -404,13 +404,23 @@ TEST(GaussianConditional, Print) {
const Vector2 b(20, 40);
const double sigma = 3;
std::string s = "GaussianConditional";
GaussianConditional conditional(X(0), b, Matrix2::Identity(),
noiseModel::Isotropic::Sigma(2, sigma));
auto conditional =
// Test printing for no parents.
std::string expected =
"GaussianConditional p(x0)\n"
" R = [ 1 0 ]\n"
" [ 0 1 ]\n"
" d = [ 20 40 ]\n"
"isotropic dim=2 sigma=3\n";
EXPECT(assert_print_equal(expected, conditional, "GaussianConditional"));
auto conditional1 =
GaussianConditional::FromMeanAndStddev(X(0), A1, X(1), b, sigma);
// Test printing for single parent.
std::string expected =
std::string expected1 =
"GaussianConditional p(x0 | x1)\n"
" R = [ 1 0 ]\n"
" [ 0 1 ]\n"
@ -418,7 +428,7 @@ TEST(GaussianConditional, Print) {
" [ -3 -4 ]\n"
" d = [ 20 40 ]\n"
"isotropic dim=2 sigma=3\n";
EXPECT(assert_print_equal(expected, conditional, s));
EXPECT(assert_print_equal(expected1, conditional1, "GaussianConditional"));
// Test printing for multiple parents.
auto conditional2 = GaussianConditional::FromMeanAndStddev(X(0), A1, Y(0), A2,
@ -433,7 +443,7 @@ TEST(GaussianConditional, Print) {
" [ -7 -8 ]\n"
" d = [ 20 40 ]\n"
"isotropic dim=2 sigma=3\n";
EXPECT(assert_print_equal(expected2, conditional2, s));
EXPECT(assert_print_equal(expected2, conditional2, "GaussianConditional"));
}
/* ************************************************************************* */