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print parents when printing GaussianConditional

release/4.3a0
Varun Agrawal 2022-03-24 11:58:06 -04:00
parent d0a1852c0f
commit 17237becb4
3 changed files with 47 additions and 5 deletions
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10
gtsam/linear/GaussianConditional.cpp
View File

@ -89,11 +89,15 @@ namespace gtsam {
/* ************************************************************************ */
void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const {
cout << s << " Conditional density ";
cout << s << "Conditional density [";
for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
cout << (boost::format("[%1%]")%(formatter(*it))).str() << " ";
cout << (boost::format("%1%")%(formatter(*it))).str() << " ";
}
cout << endl;
cout << "|";
for (const_iterator it = beginParents(); it != endParents(); ++it) {
cout << " " << (boost::format("%1%")%(formatter(*it))).str();
}
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& = "GaussianConditional",
const KeyFormatter& formatter = DefaultKeyFormatter) const override;
void print(const std::string& = "", const KeyFormatter& formatter =
DefaultKeyFormatter) const override;
/** equals function */
bool equals(const GaussianFactor&cg, double tol = 1e-9) const override;

38
gtsam/linear/tests/testGaussianConditional.cpp
View File

@ -40,6 +40,7 @@ using namespace gtsam;
using namespace std;
using namespace boost::assign;
using symbol_shorthand::X;
using symbol_shorthand::Y;
static const double tol = 1e-5;
@ -396,6 +397,43 @@ TEST(GaussianConditional, sample) {
// EXPECT(assert_equal(Vector2(31.0111856, 64.9850775), actual2[X(0)], 1e-5));
}
/* ************************************************************************* */
TEST(GaussianConditional, Print) {
Matrix A1 = (Matrix(2, 2) << 1., 2., 3., 4.).finished();
Matrix A2 = (Matrix(2, 2) << 5., 6., 7., 8.).finished();
const Vector2 b(20, 40);
const double sigma = 3;
auto conditional =
GaussianConditional::FromMeanAndStddev(X(0), A1, X(1), b, sigma);
// Test printing for single parent.
std::string expected =
"Conditional density [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));
// 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"
" R = [ 1 0 ]\n"
" [ 0 1 ]\n"
" S[y0] = [ -1 -2 ]\n"
" [ -3 -4 ]\n"
" S[y1] = [ -5 -6 ]\n"
" [ -7 -8 ]\n"
" d = [ 20 40 ]\n"
"isotropic dim=2 sigma=3\n";
EXPECT(assert_print_equal(expected2, conditional2));
}
/* ************************************************************************* */
int main() {
TestResult tr;