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moved matlab-style matrix format definition back to cpp, updated all formatters

release/4.3a0
Varun Agrawal 2020-06-19 16:03:40 -05:00
parent d3ac33ac18
commit d7522ab970
4 changed files with 20 additions and 24 deletions
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16
gtsam/base/Matrix.cpp
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@ -136,10 +136,24 @@ Vector operator^(const Matrix& A, const Vector & v) {
return A.transpose() * v; return A.transpose() * v;
} }
const Eigen::IOFormat& matlabFormat() {
static const Eigen::IOFormat matlab(
Eigen::StreamPrecision, // precision
Eigen::DontAlignCols, // flags set such that rowSpacers are not added
", ", // coeffSeparator
";\n", // rowSeparator
"\t", // rowPrefix
"", // rowSuffix
"[\n", // matPrefix
"\n]" // matSuffix
);
return matlab;
}
/* ************************************************************************* */ /* ************************************************************************* */
//3 argument call //3 argument call
void print(const Matrix& A, const string &s, ostream& stream) { void print(const Matrix& A, const string &s, ostream& stream) {
cout << s << A.format(matlab) << endl; cout << s << A.format(matlabFormat()) << endl;
} }
/* ************************************************************************* */ /* ************************************************************************* */

14
gtsam/base/Matrix.h
View File

@ -76,17 +76,9 @@ GTSAM_MAKE_MATRIX_DEFS(9);
typedef Eigen::Block<Matrix> SubMatrix; typedef Eigen::Block<Matrix> SubMatrix;
typedef Eigen::Block<const Matrix> ConstSubMatrix; typedef Eigen::Block<const Matrix> ConstSubMatrix;
// Matrix formatting arguments when printing. Akin to Matlab style. // Matrix formatting arguments when printing.
const Eigen::IOFormat matlab( // Akin to Matlab style.
Eigen::StreamPrecision, // precision const Eigen::IOFormat& matlabFormat();
Eigen::DontAlignCols, // flags set such that rowSpacers are not added
", ", // coeffSeparator
";\n", // rowSeparator
"\t", // rowPrefix
"", // rowSuffix
"[\n", // matPrefix
"\n]" // matSuffix
);
/** /**
* equals with a tolerance * equals with a tolerance

2
gtsam/geometry/Rot3.cpp
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@ -223,7 +223,7 @@ pair<Matrix3, Vector3> RQ(const Matrix3& A) {
/* ************************************************************************* */ /* ************************************************************************* */
ostream &operator<<(ostream &os, const Rot3& R) { ostream &operator<<(ostream &os, const Rot3& R) {
os << R.matrix().format(matlab); os << R.matrix().format(matlabFormat());
return os; return os;
} }

12
gtsam/linear/JacobianFactor.cpp
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@ -421,21 +421,11 @@ JacobianFactor::JacobianFactor(const GaussianFactorGraph& graph,
/* ************************************************************************* */ /* ************************************************************************* */
void JacobianFactor::print(const string& s, void JacobianFactor::print(const string& s,
const KeyFormatter& formatter) const { const KeyFormatter& formatter) const {
static const Eigen::IOFormat matlab(
Eigen::StreamPrecision, // precision
0, // flags
" ", // coeffSeparator
";\n", // rowSeparator
"\t", // rowPrefix
"", // rowSuffix
"[\n", // matPrefix
"\n ]" // matSuffix
);
if (!s.empty()) if (!s.empty())
cout << s << "\n"; cout << s << "\n";
for (const_iterator key = begin(); key != end(); ++key) { for (const_iterator key = begin(); key != end(); ++key) {
cout << boost::format(" A[%1%] = ") % formatter(*key); cout << boost::format(" A[%1%] = ") % formatter(*key);
cout << getA(key).format(matlab) << endl; cout << getA(key).format(matlabFormat()) << endl;
} }
cout << formatMatrixIndented(" b = ", getb(), true) << "\n"; cout << formatMatrixIndented(" b = ", getb(), true) << "\n";
if (model_) if (model_)