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update printing

release/4.3a0
Varun Agrawal 2022-03-24 14:13:30 -04:00
parent 17237becb4
commit f34f1de316
3 changed files with 10 additions and 8 deletions
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4
gtsam/linear/GaussianConditional.cpp
View File

@ -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))

4
gtsam/linear/GaussianConditional.h
View File

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

10
gtsam/linear/tests/testGaussianConditional.cpp
View File

@ -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));
}
/* ************************************************************************* */