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Changed some printing details, prompted by MATLAB display

release/4.3a0
Frank Dellaert 2012-07-02 15:01:28 +00:00
parent 8da8b4dca2
commit 747342ffda
9 changed files with 26 additions and 16 deletions
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4
gtsam.h
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@ -1267,10 +1267,10 @@ class ISAM {
class LevenbergMarquardtOptimizer { class LevenbergMarquardtOptimizer {
double lambda() const; double lambda() const;
void iterate(); void iterate();
visualSLAM::Values optimize();
visualSLAM::Values optimizeSafely();
double error() const; double error() const;
size_t iterations() const; size_t iterations() const;
visualSLAM::Values optimize();
visualSLAM::Values optimizeSafely();
visualSLAM::Values values() const; visualSLAM::Values values() const;
}; };

5
gtsam/geometry/Pose3.cpp
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@ -55,8 +55,9 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void Pose3::print(const string& s) const { void Pose3::print(const string& s) const {
R_.print(s + ".R"); cout << s;
t_.print(s + ".t"); R_.print("R:\n");
t_.print("t: ");
} }
/* ************************************************************************* */ /* ************************************************************************* */

4
gtsam/nonlinear/NonlinearEquality.h
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@ -109,8 +109,8 @@ namespace gtsam {
/// @{ /// @{
virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << "Constraint: " << s << " on [" << keyFormatter(this->key()) << "]\n"; std::cout << s << "Constraint: on [" << keyFormatter(this->key()) << "]\n";
gtsam::print(feasible_,"Feasible Point"); gtsam::print(feasible_,"Feasible Point:\n");
std::cout << "Variable Dimension: " << feasible_.dim() << std::endl; std::cout << "Variable Dimension: " << feasible_.dim() << std::endl;
} }

2
gtsam/nonlinear/NonlinearFactor.h
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@ -99,7 +99,7 @@ public:
/** print */ /** print */
virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << s << "keys = { "; std::cout << s << " keys = { ";
BOOST_FOREACH(Key key, this->keys()) { std::cout << keyFormatter(key) << " "; } BOOST_FOREACH(Key key, this->keys()) { std::cout << keyFormatter(key) << " "; }
std::cout << "}" << std::endl; std::cout << "}" << std::endl;
} }

2
gtsam/nonlinear/Values.cpp
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@ -43,7 +43,7 @@ namespace gtsam {
void Values::print(const string& str, const KeyFormatter& keyFormatter) const { void Values::print(const string& str, const KeyFormatter& keyFormatter) const {
cout << str << "Values with " << size() << " values:" << endl; cout << str << "Values with " << size() << " values:" << endl;
for(const_iterator key_value = begin(); key_value != end(); ++key_value) { for(const_iterator key_value = begin(); key_value != end(); ++key_value) {
cout << " " << keyFormatter(key_value->key) << ": "; cout << "Value " << keyFormatter(key_value->key) << ": ";
key_value->value.print(""); key_value->value.print("");
} }
} }

7
gtsam/slam/BearingFactor.h
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@ -78,6 +78,13 @@ namespace gtsam {
return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol); return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol);
} }
/** print contents */
void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << s << "BearingFactor, bearing = ";
measured_.print();
Base::print("", keyFormatter);
}
private: private:
/** Serialization function */ /** Serialization function */

8
gtsam/slam/BearingRangeFactor.h
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@ -64,12 +64,12 @@ namespace gtsam {
/** Print */ /** Print */
virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { virtual void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << s << ": BearingRangeFactor(" std::cout << s << "BearingRangeFactor("
<< keyFormatter(this->key1()) << "," << keyFormatter(this->key1()) << ","
<< keyFormatter(this->key2()) << ")\n"; << keyFormatter(this->key2()) << ")\n";
measuredBearing_.print(" measured bearing"); measuredBearing_.print("measured bearing:\n");
std::cout << " measured range: " << measuredRange_ << std::endl; std::cout << "measured range: " << measuredRange_ << std::endl;
this->noiseModel_->print(" noise model: "); this->noiseModel_->print("noise model:\n");
} }
/** equals */ /** equals */

7
gtsam/slam/ProjectionFactor.h
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@ -78,9 +78,10 @@ namespace gtsam {
* print * print
* @param s optional string naming the factor * @param s optional string naming the factor
*/ */
void print(const std::string& s = "ProjectionFactor", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
Base::print(s, keyFormatter); std::cout << s << "GenericProjectionFactor, z = ";
measured_.print(s + ".z"); measured_.print();
Base::print("", keyFormatter);
} }
/// equals /// equals

3
gtsam/slam/RangeFactor.h
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@ -75,7 +75,8 @@ namespace gtsam {
/** print contents */ /** print contents */
void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const { void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
Base::print(s + std::string(" range: ") + boost::lexical_cast<std::string>(measured_), keyFormatter); std::cout << s << "RangeFactor, range = " << measured_ << std::endl;
Base::print("", keyFormatter);
} }
private: private: