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Improve Gaussian Conditional printing #1147

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merged 4 commits into from
Mar 30, 2022
Merged

Improve Gaussian Conditional printing #1147

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a7e7977
Improve printing
varunagrawal Mar 25, 2022
0dfd69f
update comment in test
varunagrawal Mar 25, 2022
77adcdb
undo default print change
varunagrawal Mar 30, 2022
00d8e56
fix assertions
varunagrawal Mar 30, 2022
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13 changes: 9 additions & 4 deletions gtsam/linear/GaussianConditional.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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))
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5 changes: 3 additions & 2 deletions gtsam/linear/GaussianConditional.h
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Expand Up @@ -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;
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20 changes: 15 additions & 5 deletions gtsam/linear/tests/testGaussianConditional.cpp
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Expand Up @@ -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,
Expand All @@ -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"));
}

/* ************************************************************************* */
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