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Improved print() for nonlinear factors and constraints

release/4.3a0
Alex Cunningham 2011-10-17 19:40:19 +00:00
parent fe34a644e4
commit c271e8f49b
2 changed files with 120 additions and 0 deletions
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63
gtsam/nonlinear/NonlinearConstraint.h
View File

@ -202,6 +202,14 @@ public:
}
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NonlinearConstraint("
<< (std::string) this->key_ << ")," <<
" mu = " << this->mu_ <<
" dim = " << this->dim_ << std::endl;
}
/**
* Override this method to finish implementing a unary factor.
* If the optional Matrix reference argument is specified, it should compute
@ -247,6 +255,14 @@ public:
/** Always active, so fixed value for active() */
virtual bool active(const VALUES& c) const { return true; }
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NonlinearEqualityConstraint("
<< (std::string) this->key_ << ")," <<
" mu = " << this->mu_ <<
" dim = " << this->dim_ << std::endl;
}
private:
/** Serialization function */
@ -310,6 +326,15 @@ public:
}
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NonlinearConstraint("
<< (std::string) this->key1_ << "),"
<< (std::string) this->key2_ << ")," <<
" mu = " << this->mu_ <<
" dim = " << this->dim_ << std::endl;
}
/**
* Override this method to finish implementing a binary factor.
* If any of the optional Matrix reference arguments are specified, it should compute
@ -358,6 +383,15 @@ public:
/** Always active, so fixed value for active() */
virtual bool active(const VALUES& c) const { return true; }
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NonlinearEqualityConstraint("
<< (std::string) this->key1_ << "),"
<< (std::string) this->key2_ << ")," <<
" mu = " << this->mu_ <<
" dim = " << this->dim_ << std::endl;
}
private:
/** Serialization function */
@ -425,6 +459,16 @@ public:
}
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NonlinearConstraint("
<< (std::string) this->key1_ << "),"
<< (std::string) this->key2_ << "),"
<< (std::string) this->key3_ << ")," <<
" mu = " << this->mu_ <<
" dim = " << this->dim_ << std::endl;
}
/**
* Override this method to finish implementing a trinary factor.
* If any of the optional Matrix reference arguments are specified, it should compute
@ -478,6 +522,16 @@ public:
/** Always active, so fixed value for active() */
virtual bool active(const VALUES& c) const { return true; }
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NonlinearEqualityConstraint("
<< (std::string) this->key1_ << "),"
<< (std::string) this->key2_ << "),"
<< (std::string) this->key3_ << ")," <<
" mu = " << this->mu_ <<
" dim = " << this->dim_ << std::endl;
}
private:
/** Serialization function */
@ -522,6 +576,15 @@ public:
return value_.logmap(x1);
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NonlinearEquality("
<< (std::string) this->key_ << "),"<<
" mu = " << this->mu_ <<
" dim = " << this->dim_ << "\n";
value_.print("Value");
}
private:
/** Serialization function */

57
gtsam/nonlinear/NonlinearFactor.h
View File

@ -334,6 +334,12 @@ public:
return evaluateError(x[key_]);
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NoiseModelFactor(" << (std::string) this->key_ << ")\n";
this->noiseModel_->print(" noise model: ");
}
/**
* Override this method to finish implementing a unary factor.
* If the optional Matrix reference argument is specified, it should compute
@ -406,6 +412,14 @@ public:
return evaluateError(x[key1_], x[key2_]);
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NoiseModelFactor("
<< (std::string) this->key1_ << ","
<< (std::string) this->key2_ << ")\n";
this->noiseModel_->print(" noise model: ");
}
/**
* Override this method to finish implementing a binary factor.
* If any of the optional Matrix reference arguments are specified, it should compute
@ -483,6 +497,16 @@ public:
return evaluateError(x[key1_], x[key2_], x[key3_]);
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NoiseModelFactor("
<< (std::string) this->key1_ << ","
<< (std::string) this->key2_ << ","
<< (std::string) this->key3_ << ")\n";
this->noiseModel_->print(" noise model: ");
}
/**
* Override this method to finish implementing a trinary factor.
* If any of the optional Matrix reference arguments are specified, it should compute
@ -567,6 +591,16 @@ public:
return evaluateError(x[key1_], x[key2_], x[key3_], x[key4_]);
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NoiseModelFactor("
<< (std::string) this->key1_ << ","
<< (std::string) this->key2_ << ","
<< (std::string) this->key3_ << ","
<< (std::string) this->key4_ << ")\n";
this->noiseModel_->print(" noise model: ");
}
/**
* Override this method to finish implementing a 4-way factor.
* If any of the optional Matrix reference arguments are specified, it should compute
@ -657,6 +691,17 @@ public:
return evaluateError(x[key1_], x[key2_], x[key3_], x[key4_], x[key5_]);
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NoiseModelFactor("
<< (std::string) this->key1_ << ","
<< (std::string) this->key2_ << ","
<< (std::string) this->key3_ << ","
<< (std::string) this->key4_ << ","
<< (std::string) this->key5_ << ")\n";
this->noiseModel_->print(" noise model: ");
}
/**
* Override this method to finish implementing a 5-way factor.
* If any of the optional Matrix reference arguments are specified, it should compute
@ -753,6 +798,18 @@ public:
return evaluateError(x[key1_], x[key2_], x[key3_], x[key4_], x[key5_], x[key6_]);
}
/** Print */
virtual void print(const std::string& s = "") const {
std::cout << s << ": NoiseModelFactor("
<< (std::string) this->key1_ << ","
<< (std::string) this->key2_ << ","
<< (std::string) this->key3_ << ","
<< (std::string) this->key4_ << ","
<< (std::string) this->key5_ << ","
<< (std::string) this->key6_ << ")\n";
this->noiseModel_->print(" noise model: ");
}
/**
* Override this method to finish implementing a 6-way factor.
* If any of the optional Matrix reference arguments are specified, it should compute