From 1cdc6c1db3890ccaed32bc0c74f97d44dd0638f0 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 23 Apr 2021 17:36:53 -0400 Subject: [PATCH] fix printing of preintegration params --- gtsam/navigation/PreintegrationBase.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index 543cc5b59a..8840c34e9d 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -17,6 +17,7 @@ * @author Vadim Indelman * @author David Jensen * @author Frank Dellaert + * @author Varun Agrawal **/ #include "PreintegrationBase.h" @@ -35,12 +36,12 @@ PreintegrationBase::PreintegrationBase(const boost::shared_ptr& p, //------------------------------------------------------------------------------ ostream& operator<<(ostream& os, const PreintegrationBase& pim) { - os << " deltaTij " << pim.deltaTij_ << endl; + os << " deltaTij = " << pim.deltaTij_ << endl; os << " deltaRij.ypr = (" << pim.deltaRij().ypr().transpose() << ")" << endl; - os << " deltaPij " << Point3(pim.deltaPij()) << endl; - os << " deltaVij " << Point3(pim.deltaVij()) << endl; - os << " gyrobias " << Point3(pim.biasHat_.gyroscope()) << endl; - os << " acc_bias " << Point3(pim.biasHat_.accelerometer()) << endl; + os << " deltaPij = " << pim.deltaPij().transpose() << endl; + os << " deltaVij = " << pim.deltaVij().transpose() << endl; + os << " gyrobias = " << pim.biasHat_.gyroscope().transpose() << endl; + os << " acc_bias = " << pim.biasHat_.accelerometer().transpose() << endl; return os; }