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Add position to Point2 nodes in GraphViz #1058

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Jan 24, 2022
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Add position to Point2 nodes in GraphViz #1058

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11 changes: 11 additions & 0 deletions gtsam/nonlinear/GraphvizFormatting.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,17 @@ boost::optional<Vector2> GraphvizFormatting::operator()(
} else if (const GenericValue<Vector2>* p =
dynamic_cast<const GenericValue<Vector2>*>(&value)) {
t << p->value().x(), p->value().y(), 0;
} else if (const GenericValue<Vector>* p =
dynamic_cast<const GenericValue<Vector>*>(&value)) {
if (p->dim() == 2) {
const Eigen::Ref<const Vector2> p_2d(p->value());
t << p_2d.x(), p_2d.y(), 0;
} else if (p->dim() == 3) {
const Eigen::Ref<const Vector3> p_3d(p->value());
t = p_3d;
} else {
return boost::none;
}
} else if (const GenericValue<Pose3>* p =
dynamic_cast<const GenericValue<Pose3>*>(&value)) {
t = p->value().translation();
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