From cf3e886d84aeb1b98be879a98c093a8525327c8f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 17 Mar 2020 15:20:54 -0400
Subject: [PATCH] move print() and iostream to .cpp file for SO<N>

---
 gtsam/geometry/SOn-inl.h | 9 +++++++++
 gtsam/geometry/SOn.cpp   | 1 +
 gtsam/geometry/SOn.h     | 5 +----
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h
index 344822c1f..0d7f3e108 100644
--- a/gtsam/geometry/SOn-inl.h
+++ b/gtsam/geometry/SOn-inl.h
@@ -20,6 +20,10 @@
 
 #include <gtsam/base/Matrix.h>
 
+#include <iostream>
+
+using namespace std;
+
 namespace gtsam {
 
 // Implementation for N>5 just uses dynamic version
@@ -109,4 +113,9 @@ typename SO<N>::VectorN2 SO<N>::vec(
   return X;
 }
 
+template <int N>
+void SO<N>::print(const std::string& s) const {
+    cout << s << matrix_ << endl;
+}
+
 }  // namespace gtsam
diff --git a/gtsam/geometry/SOn.cpp b/gtsam/geometry/SOn.cpp
index be5acc23b..0676b4a67 100644
--- a/gtsam/geometry/SOn.cpp
+++ b/gtsam/geometry/SOn.cpp
@@ -13,6 +13,7 @@
  * @file    SOn.cpp
  * @brief   Definitions of dynamic specializations of SO(n)
  * @author  Frank Dellaert
+ * @author  Varun Agrawal
  * @date    March 2019
  */
 
diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h
index 8b37f443a..117c2336e 100644
--- a/gtsam/geometry/SOn.h
+++ b/gtsam/geometry/SOn.h
@@ -24,7 +24,6 @@
 
 #include <Eigen/Core>
 
-#include <iostream> // TODO(frank): how to avoid?
 #include <random>
 #include <string>
 #include <type_traits>
@@ -148,9 +147,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   /// @name Testable
   /// @{
 
-  void print(const std::string& s) const {
-    std::cout << s << matrix_ << std::endl;
-  }
+  void print(const std::string& s = std::string()) const;
 
   bool equals(const SO& other, double tol) const {
     return equal_with_abs_tol(matrix_, other.matrix_, tol);