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Better printing #678

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merged 3 commits into from
Jan 20, 2021
Merged

Better printing #678

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6f65884
use streams instead of printf
varunagrawal Jan 19, 2021
56eb1bb
use of passed in stream for print capture
varunagrawal Jan 19, 2021
2168cd4
stream printing for Pose2
varunagrawal Jan 19, 2021
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2 changes: 1 addition & 1 deletion gtsam/base/Matrix.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -153,7 +153,7 @@ const Eigen::IOFormat& matlabFormat() {
/* ************************************************************************* */
//3 argument call
void print(const Matrix& A, const string &s, ostream& stream) {
cout << s << A.format(matlabFormat()) << endl;
stream << s << A.format(matlabFormat()) << endl;
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oh this is a typo! nice catch :)

}

/* ************************************************************************* */
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8 changes: 4 additions & 4 deletions gtsam/base/Testable.h
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Expand Up @@ -33,9 +33,9 @@

#pragma once

#include <boost/shared_ptr.hpp>
#include <boost/concept_check.hpp>
#include <stdio.h>
#include <boost/shared_ptr.hpp>
#include <iostream>
#include <string>

#define GTSAM_PRINT(x)((x).print(#x))
Expand Down Expand Up @@ -72,10 +72,10 @@ namespace gtsam {
}; // \ Testable

inline void print(float v, const std::string& s = "") {
printf("%s%f\n",s.c_str(),v);
std::cout << (s == "" ? s : s + " ") << v << std::endl;
}
inline void print(double v, const std::string& s = "") {
printf("%s%lf\n",s.c_str(),v);
std::cout << (s == "" ? s : s + " ") << v << std::endl;
}

/** Call equal on the object */
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8 changes: 7 additions & 1 deletion gtsam/geometry/Pose2.cpp
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Expand Up @@ -48,7 +48,13 @@ Matrix3 Pose2::matrix() const {

/* ************************************************************************* */
void Pose2::print(const string& s) const {
cout << s << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl;
cout << s << this << endl;
}

/* ************************************************************************* */
std::ostream &operator<<(std::ostream &os, const Pose2& pose) {
os << "(" << pose.x() << ", " << pose.y() << ", " << pose.theta() << ")";
return os;
}

/* ************************************************************************* */
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4 changes: 4 additions & 0 deletions gtsam/geometry/Pose2.h
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Expand Up @@ -287,6 +287,10 @@ class Pose2: public LieGroup<Pose2, 3> {
*/
static std::pair<size_t, size_t> rotationInterval() { return std::make_pair(2, 2); }

/// Output stream operator
GTSAM_EXPORT
friend std::ostream &operator<<(std::ostream &os, const Pose2& p);

/// @}

private:
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