From ccd64fb08c21da3441cbe639a86a398398a7e1dd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 25 Jan 2021 16:22:09 -0500
Subject: [PATCH] use standard function to check for empty string

---
 gtsam/base/Testable.h                      | 4 ++--
 gtsam/navigation/CombinedImuFactor.cpp     | 2 +-
 gtsam/navigation/ImuFactor.cpp             | 4 ++--
 gtsam/navigation/PreintegratedRotation.cpp | 2 +-
 gtsam/navigation/PreintegrationBase.cpp    | 2 +-
 gtsam/nonlinear/Values.cpp                 | 2 +-
 gtsam/sfm/ShonanAveraging.h                | 3 ++-
 7 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h
index 2145360df..e8cdbd8e0 100644
--- a/gtsam/base/Testable.h
+++ b/gtsam/base/Testable.h
@@ -72,10 +72,10 @@ namespace gtsam {
   }; // \ Testable
 
   inline void print(float v, const std::string& s = "") {
-    std::cout << (s == "" ? s : s + " ") << v << std::endl;
+    std::cout << (s.empty() ? s : s + " ") << v << std::endl;
   }
   inline void print(double v, const std::string& s = "") {
-    std::cout << (s == "" ? s : s + " ") << v << std::endl;
+    std::cout << (s.empty() ? s : s + " ") << v << std::endl;
   }
 
   /** Call equal on the object */
diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index e41a8de44..ca1c5b93a 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -167,7 +167,7 @@ gtsam::NonlinearFactor::shared_ptr CombinedImuFactor::clone() const {
 //------------------------------------------------------------------------------
 void CombinedImuFactor::print(const string& s,
     const KeyFormatter& keyFormatter) const {
-  cout << (s == "" ? s : s + "\n") << "CombinedImuFactor("
+  cout << (s.empty() ? s : s + "\n") << "CombinedImuFactor("
        << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ","
        << keyFormatter(this->key3()) << "," << keyFormatter(this->key4()) << ","
        << keyFormatter(this->key5()) << "," << keyFormatter(this->key6())
diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index cebddf05d..98b1e6f9d 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -130,7 +130,7 @@ std::ostream& operator<<(std::ostream& os, const ImuFactor& f) {
 
 //------------------------------------------------------------------------------
 void ImuFactor::print(const string& s, const KeyFormatter& keyFormatter) const {
-  cout << (s == "" ? s : s + "\n") << "ImuFactor(" << keyFormatter(this->key1())
+  cout << (s.empty() ? s : s + "\n") << "ImuFactor(" << keyFormatter(this->key1())
        << "," << keyFormatter(this->key2()) << "," << keyFormatter(this->key3())
        << "," << keyFormatter(this->key4()) << "," << keyFormatter(this->key5())
        << ")\n";
@@ -226,7 +226,7 @@ std::ostream& operator<<(std::ostream& os, const ImuFactor2& f) {
 //------------------------------------------------------------------------------
 void ImuFactor2::print(const string& s,
     const KeyFormatter& keyFormatter) const {
-  cout << (s == "" ? s : s + "\n") << "ImuFactor2("
+  cout << (s.empty() ? s : s + "\n") << "ImuFactor2("
        << keyFormatter(this->key1()) << "," << keyFormatter(this->key2()) << ","
        << keyFormatter(this->key3()) << ")\n";
   cout << *this << endl;
diff --git a/gtsam/navigation/PreintegratedRotation.cpp b/gtsam/navigation/PreintegratedRotation.cpp
index f827c7c59..ee30bee9e 100644
--- a/gtsam/navigation/PreintegratedRotation.cpp
+++ b/gtsam/navigation/PreintegratedRotation.cpp
@@ -26,7 +26,7 @@ using namespace std;
 namespace gtsam {
 
 void PreintegratedRotationParams::print(const string& s) const {
-  cout << (s == "" ? s : s + "\n") << endl;
+  cout << (s.empty() ? s : s + "\n") << endl;
   cout << "gyroscopeCovariance:\n[\n" << gyroscopeCovariance << "\n]" << endl;
   if (omegaCoriolis)
     cout << "omegaCoriolis = (" << omegaCoriolis->transpose() << ")" << endl;
diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp
index 111594663..543cc5b59 100644
--- a/gtsam/navigation/PreintegrationBase.cpp
+++ b/gtsam/navigation/PreintegrationBase.cpp
@@ -46,7 +46,7 @@ ostream& operator<<(ostream& os, const PreintegrationBase& pim) {
 
 //------------------------------------------------------------------------------
 void PreintegrationBase::print(const string& s) const {
-  cout << (s == "" ? s : s + "\n") << *this << endl;
+  cout << (s.empty() ? s : s + "\n") << *this << endl;
 }
 
 //------------------------------------------------------------------------------
diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp
index 89a4206ee..9b8f7645a 100644
--- a/gtsam/nonlinear/Values.cpp
+++ b/gtsam/nonlinear/Values.cpp
@@ -75,7 +75,7 @@ namespace gtsam {
 
   /* ************************************************************************* */
   void Values::print(const string& str, const KeyFormatter& keyFormatter) const {
-    cout << str << (str == "" ? "" : "\n");
+    cout << str << (str.empty() ? "" : "\n");
     cout << "Values with " << size() << " values:\n";
     for(const_iterator key_value = begin(); key_value != end(); ++key_value) {
       cout << "Value " << keyFormatter(key_value->key) << ": ";
diff --git a/gtsam/sfm/ShonanAveraging.h b/gtsam/sfm/ShonanAveraging.h
index 0a8bdc8c1..f00109cae 100644
--- a/gtsam/sfm/ShonanAveraging.h
+++ b/gtsam/sfm/ShonanAveraging.h
@@ -91,7 +91,8 @@ struct GTSAM_EXPORT ShonanAveragingParameters {
   bool getCertifyOptimality() const { return certifyOptimality; }
 
   /// Print the parameters and flags used for rotation averaging.
-  void print() const {
+  void print(const std::string &s = "") const {
+    std::cout << (s.empty() ? s : s + " ");
     std::cout << " ShonanAveragingParameters: " << std::endl;
     std::cout << " alpha: " << alpha << std::endl;
     std::cout << " beta: " << beta << std::endl;