From bcd6a09c14f5592b4a6af0b24c4ccbc45e27ce5a Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 17 Feb 2015 00:12:21 +0100
Subject: [PATCH] Added missing print, made print conform to base class

---
 gtsam/slam/OrientedPlane3Factor.cpp | 11 +++++++++--
 gtsam/slam/OrientedPlane3Factor.h   | 18 +++++++++++-------
 2 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/gtsam/slam/OrientedPlane3Factor.cpp b/gtsam/slam/OrientedPlane3Factor.cpp
index 7ec72825b..47ed6780d 100644
--- a/gtsam/slam/OrientedPlane3Factor.cpp
+++ b/gtsam/slam/OrientedPlane3Factor.cpp
@@ -13,15 +13,22 @@ using namespace std;
 namespace gtsam {
 
 //***************************************************************************
+void OrientedPlane3Factor::print(const string& s,
+    const KeyFormatter& keyFormatter) const {
+  cout << "OrientedPlane3Factor Factor on " << landmarkSymbol_ << "\n";
+  measured_p_.print("Measured Plane");
+  this->noiseModel_->print("  noise model: ");
+}
 
-void OrientedPlane3DirectionPrior::print(const string& s) const {
+//***************************************************************************
+void OrientedPlane3DirectionPrior::print(const string& s,
+    const KeyFormatter& keyFormatter) const {
   cout << "Prior Factor on " << landmarkKey_ << "\n";
   measured_p_.print("Measured Plane");
   this->noiseModel_->print("  noise model: ");
 }
 
 //***************************************************************************
-
 bool OrientedPlane3DirectionPrior::equals(const NonlinearFactor& expected,
   double tol) const {
   const This* e = dynamic_cast<const This*>(&expected);
diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h
index 7827a5c2c..67601fe03 100644
--- a/gtsam/slam/OrientedPlane3Factor.h
+++ b/gtsam/slam/OrientedPlane3Factor.h
@@ -7,16 +7,15 @@
 
 #pragma once
 
-#include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/OrientedPlane3.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/inference/Key.h>
 #include <iostream>
 
 namespace gtsam {
 
-  /**
+/**
  * Factor to measure a planar landmark from a given pose
  */
 class OrientedPlane3Factor: public NoiseModelFactor2<Pose3, OrientedPlane3> {
@@ -48,7 +47,10 @@ public:
   }
 
   /// print
-  void print(const std::string& s="PlaneFactor") const;
+  virtual void print(const std::string& s = "OrientedPlane3Factor",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+
+  /// evaluateError
   virtual Vector evaluateError(const Pose3& pose, const OrientedPlane3& plane,
                                boost::optional<Matrix&> H1 = boost::none,
                                 boost::optional<Matrix&> H2 = boost::none) const
@@ -81,10 +83,12 @@ public:
   {
     measured_p_ = OrientedPlane3 (Unit3 (z (0), z (1), z (2)), z (3));
   }
-  /// print
-  void print(const std::string& s) const;
 
-  /** equals */
+  /// print
+  virtual void print(const std::string& s = "OrientedPlane3DirectionPrior",
+      const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
+
+  /// equals
   virtual bool equals(const NonlinearFactor& expected, double tol = 1e-9) const;
 
   virtual Vector evaluateError(const OrientedPlane3& plane,