update printing

gtsam/linear/GaussianConditional.cpp

@@ -89,7 +89,7 @@ namespace gtsam {
 
   /* ************************************************************************ */
   void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const {
-    cout << s << "Conditional density [";
+    cout << s << " p(";
     for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
       cout << (boost::format("%1%")%(formatter(*it))).str() << " ";
     }
@@ -97,7 +97,7 @@ namespace gtsam {
     for (const_iterator it = beginParents(); it != endParents(); ++it) {
       cout << " " << (boost::format("%1%")%(formatter(*it))).str();
     }
-    cout << "]" << endl;
+    cout << ")" << endl;
     cout << formatMatrixIndented("  R = ", R()) << endl;
     for (const_iterator it = beginParents() ; it != endParents() ; ++it) {
       cout << formatMatrixIndented((boost::format("  S[%1%] = ")%(formatter(*it))).str(), getA(it))

gtsam/linear/GaussianConditional.h

@@ -109,8 +109,8 @@ namespace gtsam {
     /// @{
 
     /** print */
-    void print(const std::string& = "", const KeyFormatter& formatter =
+    void print(const std::string& = "GaussianConditional",
-                                            DefaultKeyFormatter) const override;
+      const KeyFormatter& formatter = DefaultKeyFormatter) const override;
 
     /** equals function */
     bool equals(const GaussianFactor&cg, double tol = 1e-9) const override;

gtsam/linear/tests/testGaussianConditional.cpp

@@ -404,25 +404,27 @@ TEST(GaussianConditional, Print) {
   const Vector2 b(20, 40);
   const double sigma = 3;
 
+  std::string s = "GaussianConditional";
+
   auto conditional =
       GaussianConditional::FromMeanAndStddev(X(0), A1, X(1), b, sigma);
 
   // Test printing for single parent.
   std::string expected =
-    "Conditional density [x0 | x1]\n"
+    "GaussianConditional p(x0 | x1)\n"
     "  R = [ 1 0 ]\n"
     "      [ 0 1 ]\n"
     "  S[x1] = [ -1 -2 ]\n"
     "          [ -3 -4 ]\n"
     "  d = [ 20 40 ]\n"
     "isotropic dim=2 sigma=3\n";
-  EXPECT(assert_print_equal(expected, conditional));
+  EXPECT(assert_print_equal(expected, conditional, s));
 
   // Test printing for multiple parents.
   auto conditional2 = GaussianConditional::FromMeanAndStddev(X(0), A1, Y(0), A2,
                                                              Y(1), b, sigma);
   std::string expected2 =
-    "Conditional density [x0 | y0 y1]\n"
+    "GaussianConditional p(x0 | y0 y1)\n"
     "  R = [ 1 0 ]\n"
     "      [ 0 1 ]\n"
     "  S[y0] = [ -1 -2 ]\n"
@@ -431,7 +433,7 @@ TEST(GaussianConditional, Print) {
     "          [ -7 -8 ]\n"
     "  d = [ 20 40 ]\n"
     "isotropic dim=2 sigma=3\n";
-  EXPECT(assert_print_equal(expected2, conditional2));
+  EXPECT(assert_print_equal(expected2, conditional2, s));
 }
 
 /* ************************************************************************* */