From c5bfd524e0ca8fa8c49fe5ad8183492b748b81ad Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 12 Jan 2024 10:28:02 -0500
Subject: [PATCH] better printing of GaussianMixtureFactor

---
 gtsam/hybrid/GaussianMixtureFactor.cpp                | 4 +++-
 gtsam/hybrid/GaussianMixtureFactor.h                  | 5 ++---
 gtsam/hybrid/tests/testGaussianMixtureFactor.cpp      | 3 ++-
 gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp | 2 ++
 4 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixtureFactor.cpp b/gtsam/hybrid/GaussianMixtureFactor.cpp
index a3db16d04..4e138acfa 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/GaussianMixtureFactor.cpp
@@ -54,7 +54,9 @@ bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
 /* *******************************************************************************/
 void GaussianMixtureFactor::print(const std::string &s,
                                   const KeyFormatter &formatter) const {
-  HybridFactor::print(s, formatter);
+  std::cout << (s.empty() ? "" : s + "\n");
+  std::cout << "GaussianMixtureFactor" << std::endl;
+  HybridFactor::print("", formatter);
   std::cout << "{\n";
   if (factors_.empty()) {
     std::cout << "  empty" << std::endl;
diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index 63ca9e923..913426a98 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -107,9 +107,8 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
 
   bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
 
-  void print(
-      const std::string &s = "GaussianMixtureFactor\n",
-      const KeyFormatter &formatter = DefaultKeyFormatter) const override;
+  void print(const std::string &s = "", const KeyFormatter &formatter =
+                                            DefaultKeyFormatter) const override;
 
   /// @}
   /// @name Standard API
diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
index 9cc7e6bfd..11b01f074 100644
--- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
@@ -106,7 +106,8 @@ TEST(GaussianMixtureFactor, Printing) {
   GaussianMixtureFactor mixtureFactor({X(1), X(2)}, {m1}, factors);
 
   std::string expected =
-      R"(Hybrid [x1 x2; 1]{
+      R"(GaussianMixtureFactor
+Hybrid [x1 x2; 1]{
  Choice(1) 
  0 Leaf :
   A[x1] = [
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 93081d309..0d4bf27c4 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -510,6 +510,7 @@ factor 0:
   b = [ -10 ]
   No noise model
 factor 1: 
+GaussianMixtureFactor
 Hybrid [x0 x1; m0]{
  Choice(m0) 
  0 Leaf :
@@ -534,6 +535,7 @@ Hybrid [x0 x1; m0]{
 
 }
 factor 2: 
+GaussianMixtureFactor
 Hybrid [x1 x2; m1]{
  Choice(m1) 
  0 Leaf :