Improve printing
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				|  | @ -89,15 +89,20 @@ namespace gtsam { | |||
| 
 | ||||
|   /* ************************************************************************ */ | ||||
|   void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const { | ||||
|     cout << s << " p("; | ||||
|     cout << s << "GaussianConditional 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)) | ||||
|  |  | |||
|  | @ -109,8 +109,8 @@ namespace gtsam { | |||
|     /// @{
 | ||||
| 
 | ||||
|     /** print */ | ||||
|     void print(const std::string& = "GaussianConditional", | ||||
|       const KeyFormatter& formatter = DefaultKeyFormatter) const override; | ||||
|     void print(const std::string& = "", const KeyFormatter& formatter = | ||||
|                                             DefaultKeyFormatter) const override; | ||||
| 
 | ||||
|     /** equals function */ | ||||
|     bool equals(const GaussianFactor&cg, double tol = 1e-9) const override; | ||||
|  |  | |||
|  | @ -404,13 +404,23 @@ TEST(GaussianConditional, Print) { | |||
|   const Vector2 b(20, 40); | ||||
|   const double sigma = 3; | ||||
| 
 | ||||
|   std::string s = "GaussianConditional"; | ||||
| 
 | ||||
|   auto conditional = | ||||
|       GaussianConditional::FromMeanAndStddev(X(0), A1, X(1), b, sigma); | ||||
|   GaussianConditional conditional(X(0), b, Matrix2::Identity(), | ||||
|                                   noiseModel::Isotropic::Sigma(2, sigma)); | ||||
| 
 | ||||
|   // Test printing for single parent.
 | ||||
|   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)); | ||||
| 
 | ||||
|   auto conditional1 = | ||||
|       GaussianConditional::FromMeanAndStddev(X(0), A1, X(1), b, sigma); | ||||
| 
 | ||||
|   // Test printing for single parent.
 | ||||
|   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)); | ||||
| 
 | ||||
|   // 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)); | ||||
| } | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
|  |  | |||
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