Move print methods to cpp files wherever possible

gtsam/base/GenericValue.h

@@ -26,9 +26,8 @@
 #include <boost/pool/pool_alloc.hpp>
 
 #include <cmath>
-#include <iosfwd>
-#include <typeinfo> // operator typeid
 #include <iostream>
+#include <typeinfo> // operator typeid
 
 namespace gtsam {
 

gtsam/geometry/Cal3_S2Stereo.cpp

@@ -0,0 +1,39 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   Cal3_S2Stereo.cpp
+ * @brief  The most common 5DOF 3D->2D calibration + Stereo baseline
+ * @author Chris Beall
+ */
+
+#include <gtsam/geometry/Cal3_S2Stereo.h>
+
+#include <iostream>
+
+namespace gtsam {
+using namespace std;
+
+/* ************************************************************************* */
+void Cal3_S2Stereo::print(const std::string& s) const {
+     K_.print(s+"K: ");
+     std::cout << s << "Baseline: " << b_ << std::endl;
+   }
+
+/* ************************************************************************* */
+bool Cal3_S2Stereo::equals(const Cal3_S2Stereo& other, double tol) const {
+  if (fabs(b_ - other.b_) > tol) return false;
+  return K_.equals(other.K_,tol);
+}
+
+/* ************************************************************************* */
+
+} // namespace gtsam

gtsam/geometry/Cal3_S2Stereo.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #include <gtsam/geometry/Cal3_S2.h>
-#include <iostream>
+#include <iosfwd>
 
 namespace gtsam {
 
@@ -63,16 +63,10 @@ namespace gtsam {
     /// @name Testable
     /// @{
 
-    void print(const std::string& s = "") const {
+    void print(const std::string& s = "") const;
-      K_.print(s+"K: ");
-      std::cout << s << "Baseline: " << b_ << std::endl;
-    }
 
     /// Check if equal up to specified tolerance
-    bool equals(const Cal3_S2Stereo& other, double tol = 10e-9) const {
+    bool equals(const Cal3_S2Stereo& other, double tol = 10e-9) const;
-      if (fabs(b_ - other.b_) > tol) return false;
-      return K_.equals(other.K_,tol);
-    }
 
    /// @}
     /// @name Standard Interface

gtsam/geometry/Quaternion.h

@@ -21,7 +21,7 @@
 #include <gtsam/base/concepts.h>
 #include <gtsam/geometry/SO3.h> // Logmap/Expmap derivatives
 #include <limits>
-#include <iosfwd>
+#include <iostream>
 
 #define QUATERNION_TYPE Eigen::Quaternion<_Scalar,_Options>
 

gtsam/geometry/SO3.cpp

@@ -22,6 +22,7 @@
 #include <gtsam/base/concepts.h>
 #include <cmath>
 #include <limits>
+#include <iostream>
 
 namespace gtsam {
 
@@ -116,6 +117,12 @@ SO3 SO3::AxisAngle(const Vector3& axis, double theta) {
   return so3::ExpmapFunctor(axis, theta).expmap();
 }
 
+/* ************************************************************************* */
+void SO3::print(const std::string& s) const {
+   std::cout << s << *this << std::endl;
+ }
+
+/* ************************************************************************* */
 SO3 SO3::Expmap(const Vector3& omega, ChartJacobian H) {
   if (H) {
     so3::DexpFunctor impl(omega);

gtsam/geometry/SO3.h

@@ -24,7 +24,7 @@
 #include <gtsam/base/Lie.h>
 
 #include <cmath>
-#include <iostream>
+#include <iosfwd>
 
 namespace gtsam {
 
@@ -68,9 +68,7 @@ public:
   /// @name Testable
   /// @{
 
-  void print(const std::string& s) const {
+  void print(const std::string& s) const;
-    std::cout << s << *this << std::endl;
-  }
 
   bool equals(const SO3 & R, double tol) const {
     return equal_with_abs_tol(*this, R, tol);

gtsam_unstable/geometry/Event.cpp

@@ -18,7 +18,21 @@
  */
 
 #include <gtsam_unstable/geometry/Event.h>
+#include <iostream>
 
 namespace gtsam {
 
+/* ************************************************************************* */
+void Event::print(const std::string& s) const {
+  std::cout << s << "time = " << time_ << "location = " << location_.transpose();
+}
+
+/* ************************************************************************* */
+bool Event::equals(const Event& other, double tol) const {
+  return std::abs(time_ - other.time_) < tol
+      && traits<Point3>::Equals(location_, other.location_, tol);
+}
+
+/* ************************************************************************* */
+
 } //\ namespace gtsam

gtsam_unstable/geometry/Event.h

@@ -21,7 +21,7 @@
 
 #include <gtsam/geometry/Point3.h>
 #include <cmath>
-#include <iostream>
+#include <iosfwd>
 
 namespace gtsam {
 
@@ -60,15 +60,10 @@ public:
   }
 
   /** print with optional string */
-  void print(const std::string& s = "") const {
+  void print(const std::string& s = "") const;
-    std::cout << s << "time = " << time_ << "location = " << location_.transpose();
-  }
 
   /** equals with an tolerance */
-  bool equals(const Event& other, double tol = 1e-9) const {
+  bool equals(const Event& other, double tol = 1e-9) const;
-    return std::abs(time_ - other.time_) < tol
-        && traits<Point3>::Equals(location_, other.location_, tol);
-  }
 
   /// Updates a with tangent space delta
   inline Event retract(const Vector4& v) const {