From be8008e4eede48c5eb02f2649b1cb356b6f66ace Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 31 Dec 2022 14:05:15 -0500
Subject: [PATCH] Also print mean if no parents

---
 gtsam/linear/GaussianConditional.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp
index 3174c2f44..39a21a617 100644
--- a/gtsam/linear/GaussianConditional.cpp
+++ b/gtsam/linear/GaussianConditional.cpp
@@ -120,6 +120,10 @@ namespace gtsam {
         << endl;
     }
     cout << formatMatrixIndented("  d = ", getb(), true) << "\n";
+    if (nrParents() == 0) {
+      const auto mean = solve({});  // solve for mean.
+      mean.print("  mean");
+    }
     if (model_)
       model_->print("  Noise model: ");
     else