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better printing of GaussianMixtureFactor

release/4.3a0
Varun Agrawal 2024-01-12 10:28:02 -05:00
parent afcb93390a
commit c5bfd524e0
4 changed files with 9 additions and 5 deletions
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4
gtsam/hybrid/GaussianMixtureFactor.cpp
View File

@ -54,7 +54,9 @@ bool GaussianMixtureFactor::equals(const HybridFactor &lf, double tol) const {
/* *******************************************************************************/ /* *******************************************************************************/
void GaussianMixtureFactor::print(const std::string &s, void GaussianMixtureFactor::print(const std::string &s,
const KeyFormatter &formatter) const { 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"; std::cout << "{\n";
if (factors_.empty()) { if (factors_.empty()) {
std::cout << " empty" << std::endl; std::cout << " empty" << std::endl;

5
gtsam/hybrid/GaussianMixtureFactor.h
View File

@ -107,9 +107,8 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
bool equals(const HybridFactor &lf, double tol = 1e-9) const override; bool equals(const HybridFactor &lf, double tol = 1e-9) const override;
void print( void print(const std::string &s = "", const KeyFormatter &formatter =
const std::string &s = "GaussianMixtureFactor\n", DefaultKeyFormatter) const override;
const KeyFormatter &formatter = DefaultKeyFormatter) const override;
/// @} /// @}
/// @name Standard API /// @name Standard API

3
gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
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@ -106,7 +106,8 @@ TEST(GaussianMixtureFactor, Printing) {
GaussianMixtureFactor mixtureFactor({X(1), X(2)}, {m1}, factors); GaussianMixtureFactor mixtureFactor({X(1), X(2)}, {m1}, factors);
std::string expected = std::string expected =
R"(Hybrid [x1 x2; 1]{ R"(GaussianMixtureFactor
Hybrid [x1 x2; 1]{
Choice(1) Choice(1)
0 Leaf : 0 Leaf :
A[x1] = [ A[x1] = [

2
gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
View File

@ -510,6 +510,7 @@ factor 0:
b = [ -10 ] b = [ -10 ]
No noise model No noise model
factor 1: factor 1:
GaussianMixtureFactor
Hybrid [x0 x1; m0]{ Hybrid [x0 x1; m0]{
Choice(m0) Choice(m0)
0 Leaf : 0 Leaf :
@ -534,6 +535,7 @@ Hybrid [x0 x1; m0]{
} }
factor 2: factor 2:
GaussianMixtureFactor
Hybrid [x1 x2; m1]{ Hybrid [x1 x2; m1]{
Choice(m1) Choice(m1)
0 Leaf : 0 Leaf :