Merge pull request #1147 from borglab/fix/gaussian-conditional-print

borglab · Mar 30, 2022 · a7c2bc5 · a7c2bc5
2 parents 416058d + 00d8e56
commit a7c2bc5
Show file tree

Hide file tree

Showing 3 changed files with 27 additions and 11 deletions.
diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp
@@ -91,13 +91,18 @@ namespace gtsam {
   void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const {
     cout << s << " p(";
     for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
-      cout << (boost::format("%1%")%(formatter(*it))).str() << " ";
+      cout << (boost::format("%1%") % (formatter(*it))).str()
+           << (nrFrontals() > 1 ? " " : "");
     }
-    cout << "|";
-    for (const_iterator it = beginParents(); it != endParents(); ++it) {
-      cout << " " << (boost::format("%1%")%(formatter(*it))).str();
+
+    if (nrParents()) {
+      cout << " |";
+      for (const_iterator it = beginParents(); it != endParents(); ++it) {
+        cout << " " << (boost::format("%1%") % (formatter(*it))).str();
+      }
     }
     cout << ")" << endl;
+
     cout << formatMatrixIndented("  R = ", R()) << endl;
     for (const_iterator it = beginParents() ; it != endParents() ; ++it) {
       cout << formatMatrixIndented((boost::format("  S[%1%] = ")%(formatter(*it))).str(), getA(it))

diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
@@ -109,8 +109,9 @@ namespace gtsam {
     /// @{
 
     /** print */
-    void print(const std::string& = "GaussianConditional",
-      const KeyFormatter& formatter = DefaultKeyFormatter) const override;
+    void print(
+        const std::string& = "GaussianConditional",
+        const KeyFormatter& formatter = DefaultKeyFormatter) const override;
 
     /** equals function */
     bool equals(const GaussianFactor&cg, double tol = 1e-9) const override;

diff --git a/gtsam/linear/tests/testGaussianConditional.cpp b/gtsam/linear/tests/testGaussianConditional.cpp
@@ -404,21 +404,31 @@ TEST(GaussianConditional, Print) {
   const Vector2 b(20, 40);
   const double sigma = 3;
 
-  std::string s = "GaussianConditional";
+  GaussianConditional conditional(X(0), b, Matrix2::Identity(),
+                                  noiseModel::Isotropic::Sigma(2, sigma));
 
-  auto conditional =
+  // Test printing for no parents.
+  std::string expected =
+    "GaussianConditional p(x0)\n"
+    "  R = [ 1 0 ]\n"
+    "      [ 0 1 ]\n"
+    "  d = [ 20 40 ]\n"
+    "isotropic dim=2 sigma=3\n";
+  EXPECT(assert_print_equal(expected, conditional, "GaussianConditional"));
+
+  auto conditional1 =
       GaussianConditional::FromMeanAndStddev(X(0), A1, X(1), b, sigma);
 
   // Test printing for single parent.
-  std::string expected =
+  std::string expected1 =
     "GaussianConditional p(x0 | x1)\n"
     "  R = [ 1 0 ]\n"
     "      [ 0 1 ]\n"
     "  S[x1] = [ -1 -2 ]\n"
     "          [ -3 -4 ]\n"
     "  d = [ 20 40 ]\n"
     "isotropic dim=2 sigma=3\n";
-  EXPECT(assert_print_equal(expected, conditional, s));
+  EXPECT(assert_print_equal(expected1, conditional1, "GaussianConditional"));
 
   // Test printing for multiple parents.
   auto conditional2 = GaussianConditional::FromMeanAndStddev(X(0), A1, Y(0), A2,
@@ -433,7 +443,7 @@ TEST(GaussianConditional, Print) {
     "          [ -7 -8 ]\n"
     "  d = [ 20 40 ]\n"
     "isotropic dim=2 sigma=3\n";
-  EXPECT(assert_print_equal(expected2, conditional2, s));
+  EXPECT(assert_print_equal(expected2, conditional2, "GaussianConditional"));
 }
 
 /* ************************************************************************* */