diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index f8de56fd5f2eb7c9281f21aca46c61fcbc66d9ed..7eb1a10b19fe6ffcc169468c6feb69dd33aed69c 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -103,17 +103,17 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
static std::shared_ptr<classType> emplace(FrameBasePtr _frm_ptr, T&&... all);
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
protected:
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 868ebb0373328df593537b26663169ec87e23698..8621a0eac7a781bb08abe419bc71fc517e886bce 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -102,10 +102,10 @@ class CaptureMotion : public CaptureBase
void setOriginCapture(CaptureBasePtr _capture_origin_ptr);
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const override;
// member data:
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index ddfb449dc31624ceed35ec6941ff734c1c8b6b68..aa0164605fc80ddd0b48915a3b75e6c69c6a1b8b 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -207,17 +207,17 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
static std::shared_ptr<classType> emplace(FeatureBasePtr _oth_ptr, T&&... all);
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
private:
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index f009a577ef375ec8fe7e8be15b87da3834cf9136..83e343c0c3f25aaeb0219289e143bfa8f7733fae 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -107,16 +107,16 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
static std::shared_ptr<classType> emplace(CaptureBasePtr _cpt_ptr, T&&... all);
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
private:
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 21fef45a17463e01d71a59a9c3c95c6abc213200..32b582b04f15da321b6dd7710fda60ac9e882cac 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -132,17 +132,17 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
static std::shared_ptr<classType> emplace(TrajectoryBasePtr _ptr, T&&... all);
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
private:
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index b9123d334a23b1470c5650569024defc8c346935..3c29221acb417b3d0e13fb764207e2ae05e67190 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -28,16 +28,16 @@ class HardwareBase : public NodeBase, public std::enable_shared_from_this<Hardwa
const SensorBasePtrList& getSensorList() const;
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
private:
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 49027c2a011e4bff34654e4ac52c4b3c55aa5f7c..15b423c3b398230697f066fead211569ee1a36d2 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -86,17 +86,17 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_
static LandmarkBasePtr create(const YAML::Node& _node);
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
private:
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index 81113892fdc00835b5c6d966d7f53dcfd21f0780..75a00a97c1a7026e51604ecca877f5b0e639f056 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -39,16 +39,16 @@ class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase>
void save(const std::string& _map_file_yaml, const std::string& _map_name = "Map automatically saved by Wolf");
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
private:
std::string dateTimeNow();
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index edda0b3b59fa839cdb6c5156abf61e1f2c338174..3d53d831ff5901b9adf597ce50b7beb04051f74d 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -334,11 +334,6 @@ class Problem : public std::enable_shared_from_this<Problem>
public:
// Print and check ---------------------------------------
- void print(int depth, //
- std::ostream& stream ,
- bool constr_by, //
- bool metric, //
- bool state_blocks) const;
/**
* \brief print wolf tree
* \param depth : levels to show ( 0: H, T, M : 1: H:S:p, T:F, M:L ; 2: T:F:C ; 3: T:F:C:f ; 4: T:F:C:f:c )
@@ -349,7 +344,8 @@ class Problem : public std::enable_shared_from_this<Problem>
void print(int depth = 4, //
bool constr_by = false, //
bool metric = true, //
- bool state_blocks = false) const;
+ bool state_blocks = false,
+ std::ostream& stream = std::cout) const;
void print(const std::string& depth, //
bool constr_by = false, //
bool metric = true, //
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 2edffe8933ebdad75bce4f5603cd6dee771f8369..0c6dff6cb340ab8e32cc466c5c44e3d22d44d981 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -363,17 +363,17 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
void setVotingAuxActive(bool _voting_active = true);
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
};
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 03c810e6de6740b04acfaaec32bd4a9d177f9dee..baee3d0d1dd370920c190ddccee5ab21f0e67268 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -458,10 +458,10 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
void setAngleTurned(const double& _angle_turned);
void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const override;
protected:
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 116dbec0f4dd0db23d790ccbd64cb4a9ff195f8e..b8de415cc3da05ba2aa81225693d3abf245d94c5 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -247,10 +247,10 @@ class ProcessorTracker : public ProcessorBase
}
void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const override;
protected:
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 78dea51330c6114997cf9a7875720a7e7781adce..2bf9d2bbc902622e984a88471b62782115088fec 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -243,16 +243,16 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
Eigen::MatrixXd getNoiseCov() const;
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index a1974820339614701b177403a332864b999d6d20..8d6e69e41d741bd70bdc6e212df2490ecbc4b62c 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -48,16 +48,16 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
void updateLastFrames();
virtual void printHeader(int depth, //
- std::ostream& stream ,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream ,
std::string _tabs = "") const;
void print(int depth, //
- std::ostream& stream,
bool constr_by, //
bool metric, //
bool state_blocks,
+ std::ostream& stream = std::cout,
std::string _tabs = "") const;
private:
FrameBasePtr addFrame(FrameBasePtr _frame_ptr);
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 7a5b646163e17365fc91b0f24e33f838b6a986f1..9d4b96c3b9a096089b9ad051b4cf8a48510860c1 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -277,7 +277,7 @@ void CaptureBase::setProblem(ProblemPtr _problem)
ft->setProblem(_problem);
}
-void CaptureBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void CaptureBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Cap" << id() << " " << getType();
@@ -340,11 +340,11 @@ void CaptureBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by
// }
// }
}
-void CaptureBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void CaptureBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 3)
for (auto f : getFeatureList())
- f->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " ");
+ f->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
} // namespace wolf
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index 2952a97a81ad1fdcdc32594204c5ed32f818627f..f9cda1f9ad32920b7c66c435f8fdffee1277d279 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -71,7 +71,7 @@ Eigen::VectorXd CaptureMotion::getDeltaCorrected(const VectorXd& _calib_current,
return delta_corrected;
}
-void CaptureMotion::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void CaptureMotion::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "CapM" << id() << " " << getType();
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 03a2898fb7e4a1277a772c281dd40429879d9f8a..c3d5f043f6af8830d88f76178a0de00d9c6bd675 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -299,7 +299,7 @@ void FactorBase::setProblem(ProblemPtr _problem)
this->getProblem()->notifyFactor(shared_from_this(),ADD);
}
-void FactorBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void FactorBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Fac" << id() << " " << getType() << " -->";
if ( getFrameOtherList() .empty()
@@ -323,8 +323,8 @@ void FactorBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by,
_stream << std::endl;
}
-void FactorBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void FactorBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
}
} // namespace wolf
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index bde4b4944e74446647922c09b98f9fb47a85d032..d3aa372b7ecdae23e6d09382f12e7fd22ff7df58 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -165,7 +165,7 @@ void FeatureBase::link(CaptureBasePtr _cpt_ptr)
WOLF_WARN("Linking with nullptr");
}
}
-void FeatureBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void FeatureBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Ftr" << id() << " trk" << trackId() << " " << getType() << ((_depth < 4) ? " -- " + std::to_string(getFactorList().size()) + "c " : "");
if (_constr_by)
@@ -181,11 +181,11 @@ void FeatureBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by
}
-void FeatureBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void FeatureBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 4)
for (auto c : getFactorList())
- c->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " ");
+ c->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
} // namespace wolf
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index f093b55bad2e6c8718d8fc20bcda54f2f974b000..d21141d80649ebbe7331551d9f7430c1ca55e8f4 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -359,7 +359,7 @@ void FrameBase::setProblem(ProblemPtr _problem)
cap->setProblem(_problem);
}
-void FrameBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void FrameBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << (isKeyOrAux() ? (isKey() ? "KFrm" : "AFrm") : "Frm") << id() << ((_depth < 2) ? " -- " + std::to_string(getCaptureList().size()) + "C " : "");
if (_constr_by)
@@ -396,11 +396,11 @@ void FrameBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by,
}
}
-void FrameBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void FrameBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 2)
for (auto C : getCaptureList())
- C->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " ");
+ C->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
} // namespace wolf
diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index 7d3e3c2a4274eaa88d3a949f6b293993e221ec8a..7456b1745b67eee31640ebb065d14198db54215f 100644
--- a/src/hardware/hardware_base.cpp
+++ b/src/hardware/hardware_base.cpp
@@ -20,16 +20,16 @@ SensorBasePtr HardwareBase::addSensor(SensorBasePtr _sensor_ptr)
return _sensor_ptr;
}
-void HardwareBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void HardwareBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Hardware" << ((_depth < 1) ? (" -- " + std::to_string(getSensorList().size()) + "S") : "") << std::endl;
}
-void HardwareBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void HardwareBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 1)
for (auto S : getSensorList())
- S->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " ");
+ S->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
} // namespace wolf
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index 9c93ba591ed43350984360ac9e01ee128aea1132..7280d7813f6e22194810563f6c7555074977c916 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -153,7 +153,7 @@ bool LandmarkBase::isConstrainedBy(const FactorBasePtr &_factor) const
return false;
}
-void LandmarkBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void LandmarkBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Lmk" << id() << " " << getType();
if (_constr_by)
@@ -189,9 +189,9 @@ void LandmarkBase::printHeader(int _depth, std::ostream& _stream, bool _constr_b
}
}
-void LandmarkBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void LandmarkBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
}
LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
{
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index 6dc86a98e169def22a598a433cd04cf991f2a223..bfd799e68de1ddf6dad43ab58ab98284af391413 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -90,15 +90,15 @@ std::string MapBase::dateTimeNow()
return date_time;
}
-void MapBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void MapBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Map" << ((_depth < 1) ? (" -- " + std::to_string(getLandmarkList().size()) + "L") : "") << std::endl;
}
-void MapBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void MapBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 1)
for (auto L : getLandmarkList())
- L->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " ");
+ L->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
} // namespace wolf
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index edd4a25e28ef980d639983a41fbc05c7bed83242..5854fc0e24861da0e305611a625e2c3837228bf9 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -952,17 +952,17 @@ void Problem::saveMap(const std::string& _filename_dot_yaml, const std::string&
getMap()->save(_filename_dot_yaml, _map_name);
}
-void Problem::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const
+void Problem::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream) const
{
_stream << std::endl;
_stream << "P: wolf tree status ---------------------" << std::endl;
- getHardware()->print(_depth, _stream, _constr_by, _metric, _state_blocks);
+ getHardware()->print(_depth, _constr_by, _metric, _state_blocks, _stream, "");
- getTrajectory()->print(_depth, _stream, _constr_by, _metric, _state_blocks);
+ getTrajectory()->print(_depth, _constr_by, _metric, _state_blocks, _stream, "");
- getMap()->print(_depth, _stream, _constr_by, _metric, _state_blocks);
+ getMap()->print(_depth, _constr_by, _metric, _state_blocks, _stream, "");
_stream << "-----------------------------------------" << std::endl;
_stream << std::endl;
@@ -1615,10 +1615,6 @@ bool Problem::check(int _verbose_level) const
{
return check((_verbose_level > 0), std::cout);
}
-void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) const
-{
- print(depth, std::cout, constr_by, metric, state_blocks);
-}
void Problem::print(const std::string& depth, bool constr_by, bool metric, bool state_blocks) const
{
if (depth.compare("T") == 0)
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index bfcf89fa194aca54ddcaacf916c5387ea1929cbf..cb9d38a003dcdb7d922595f960c89a82933820a7 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -196,14 +196,14 @@ void BufferPackKeyFrame::print(void) const
std::cout << "]" << std::endl;
}
-void ProcessorBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void ProcessorBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Prc" << id() << " " << getType() << " \"" << getName() << "\"" << std::endl;
}
-void ProcessorBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void ProcessorBase::print(int _depth, bool _metric, bool _state_blocks, bool _constr_by, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
}
} // namespace wolf
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 9c512a923bb698fb67b440bfacaf9f7a0ba9661f..317668b766ff72b671859d2f8ed661551ad4cc01 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -660,7 +660,7 @@ bool ProcessorMotion::storeCapture(CaptureBasePtr _cap_ptr)
return false;
}
-void ProcessorMotion::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void ProcessorMotion::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "PrcM" << id() << " " << getType() << " \"" << getName() << "\"" << std::endl;
if (getOrigin())
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 2a1703b3d058c56ef8ffd0e299e4cef554e0e9fd..5e1203d152d6c715b8ba968da1320b8ca611bfd9 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -322,7 +322,7 @@ bool ProcessorTracker::storeCapture(CaptureBasePtr _cap_ptr)
return false;
}
-void ProcessorTracker::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void ProcessorTracker::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "PrcT" << id() << " " << getType() << " \"" << getName() << "\"" << std::endl;
if (getOrigin())
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 4089d3c951c691472a76adefcadd1b9ce4123b07..c91633531d4e6f65b964a58c546d32e05d72902d 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -467,7 +467,7 @@ void SensorBase::link(HardwareBasePtr _hw_ptr)
}
}
-void SensorBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void SensorBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Sen" << id() << " " << getType() << " \"" << getName() << "\"";
if (_depth < 2)
@@ -509,12 +509,12 @@ void SensorBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by,
}
}
-void SensorBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void SensorBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 2)
for (auto p : getProcessorList())
- p->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " ");
+ p->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
} // namespace wolf
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index 087b79af934d2afac3c160a620d255d89bf5d14b..b7e7d0155379d04ffcf82fc83e01f44a205f0d56 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -136,16 +136,16 @@ FrameBasePtr TrajectoryBase::closestKeyOrAuxFrameToTimeStamp(const TimeStamp& _t
return closest_kf;
}
-void TrajectoryBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void TrajectoryBase::printHeader(int _depth, bool _metric, bool _state_blocks, bool _constr_by, std::ostream& _stream, std::string _tabs) const
{
_stream << _tabs << "Trajectory" << ((_depth < 1) ? (" -- " + std::to_string(getFrameList().size()) + "F") : "") << std::endl;
}
-void TrajectoryBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const
+void TrajectoryBase::print(int _depth, bool _constr_by, bool _metric, bool _state_blocks, std::ostream& _stream, std::string _tabs) const
{
- printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs);
+ printHeader(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs);
if (_depth >= 1)
for (auto F : getFrameList())
- F->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " ");
+ F->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
} // namespace wolf
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index 81271d9af42eaf92c687723584b95aaebd62e030..4c004cd72e14e9e69bb343e288ab86e3a5b9354e 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -88,7 +88,7 @@ TEST(CaptureBase, print)
// FeatureBasePtr f = C->addFeature(std::make_shared<FeatureBase>("DUMMY", Vector2d::Zero(), Matrix2d::Identity()));
auto f = FeatureBase::emplace<FeatureBase>(C, "DUMMY", Vector2d::Zero(), Matrix2d::Identity());
- C->print(4, std::cout, 1, 1, 1);
+ C->print(4, 1, 1, 1);
}
TEST(CaptureBase, process)