diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index afdad5f0f5b542010121e9c9737c730cfeb2f920..17fe5d3482619a62f2cf37123f3e50e371c366ac 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -885,7 +885,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
// Sensors =======================================================================================
for (auto S : getHardware()->getSensorList())
{
- cout << " S" << S->id() << " " << S->getType() << " \"" << S->getName() << "\"";
+ cout << " Sen" << S->id() << " " << S->getType() << " \"" << S->getName() << "\"";
if (depth < 2)
cout << " -- " << S->getProcessorList().size() << "p";
cout << endl;
@@ -929,28 +929,28 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
{
if (p->isMotion())
{
- std::cout << " pm" << p->id() << " " << p->getType() << " \"" << p->getName() << "\"" << endl;
+ std::cout << " PrcM" << p->id() << " " << p->getType() << " \"" << p->getName() << "\"" << endl;
ProcessorMotionPtr pm = std::static_pointer_cast<ProcessorMotion>(p);
if (pm->getOrigin())
- cout << " o: C" << pm->getOrigin()->id() << " - " << (pm->getOrigin()->getFrame()->isKeyOrAux() ? (pm->getOrigin()->getFrame()->isKey() ? " KF" : " AuxF" ) : " F")
+ cout << " o: C" << pm->getOrigin()->id() << " - " << (pm->getOrigin()->getFrame()->isKeyOrAux() ? (pm->getOrigin()->getFrame()->isKey() ? " KFrm" : " AFrm" ) : " Frm")
<< pm->getOrigin()->getFrame()->id() << endl;
if (pm->getLast())
- cout << " l: C" << pm->getLast()->id() << " - " << (pm->getLast()->getFrame()->isKeyOrAux() ? (pm->getLast()->getFrame()->isKey() ? " KF" : " AuxF") : " F")
+ cout << " l: C" << pm->getLast()->id() << " - " << (pm->getLast()->getFrame()->isKeyOrAux() ? (pm->getLast()->getFrame()->isKey() ? " KFrm" : " AFrm") : " Frm")
<< pm->getLast()->getFrame()->id() << endl;
if (pm->getIncoming())
cout << " i: C" << pm->getIncoming()->id() << endl;
}
else
{
- cout << " pt" << p->id() << " " << p->getType() << " \"" << p->getName() << "\"" << endl;
+ cout << " PrcT" << p->id() << " " << p->getType() << " \"" << p->getName() << "\"" << endl;
ProcessorTrackerPtr pt = std::dynamic_pointer_cast<ProcessorTracker>(p);
if (pt)
{
if (pt->getOrigin())
- cout << " o: C" << pt->getOrigin()->id() << " - " << (pt->getOrigin()->getFrame()->isKeyOrAux() ? (pt->getOrigin()->getFrame()->isKey() ? " KF" : " AuxF") : " F")
+ cout << " o: C" << pt->getOrigin()->id() << " - " << (pt->getOrigin()->getFrame()->isKeyOrAux() ? (pt->getOrigin()->getFrame()->isKey() ? " KFrm" : " AFrm") : " Frm")
<< pt->getOrigin()->getFrame()->id() << endl;
if (pt->getLast())
- cout << " l: C" << pt->getLast()->id() << " - " << (pt->getLast()->getFrame()->isKeyOrAux() ? (pt->getLast()->getFrame()->isKey() ? " KF" : " AuxF") : " F")
+ cout << " l: C" << pt->getLast()->id() << " - " << (pt->getLast()->getFrame()->isKeyOrAux() ? (pt->getLast()->getFrame()->isKey() ? " KFrm" : " AFrm") : " Frm")
<< pt->getLast()->getFrame()->id() << endl;
if (pt->getIncoming())
cout << " i: C" << pt->getIncoming()->id() << endl;
@@ -966,12 +966,12 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
// Frames =======================================================================================
for (auto F : getTrajectory()->getFrameList())
{
- cout << (F->isKeyOrAux() ? (F->isKey() ? " KF" : " AuxF") : " F") << F->id() << ((depth < 2) ? " -- " + std::to_string(F->getCaptureList().size()) + "C " : "");
+ cout << (F->isKeyOrAux() ? (F->isKey() ? " KFrm" : " AFrm") : " Frm") << F->id() << ((depth < 2) ? " -- " + std::to_string(F->getCaptureList().size()) + "C " : "");
if (constr_by)
{
cout << " <-- ";
for (auto cby : F->getConstrainedByList())
- cout << "c" << cby->id() << " \t";
+ cout << "Fac" << cby->id() << " \t";
}
cout << endl;
if (metric)
@@ -995,11 +995,11 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
// Captures =======================================================================================
for (auto C : F->getCaptureList())
{
- cout << " C" << (C->isMotion() ? "M" : "") << C->id() << " " << C->getType();
+ cout << " Cap" << (C->isMotion() ? "M" : "") << C->id() << " " << C->getType();
if(C->getSensor() != nullptr)
{
- cout << " -> S" << C->getSensor()->id();
+ cout << " -> Sen" << C->getSensor()->id();
}
else
cout << " -> S-";
@@ -1008,9 +1008,9 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
auto CM = std::static_pointer_cast<CaptureMotion>(C);
if (auto OC = CM->getOriginCapture())
{
- cout << " -> OC" << OC->id();
+ cout << " -> OCap" << OC->id();
if (auto OF = OC->getFrame())
- cout << " ; OF" << OF->id();
+ cout << " ; OFrm" << OF->id();
}
}
@@ -1019,7 +1019,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
{
cout << " <-- ";
for (auto cby : C->getConstrainedByList())
- cout << "c" << cby->id() << " \t";
+ cout << "Fac" << cby->id() << " \t";
}
cout << endl;
@@ -1058,12 +1058,12 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
// Features =======================================================================================
for (auto f : C->getFeatureList())
{
- cout << " f" << f->id() << " trk" << f->trackId() << " " << f->getType() << ((depth < 4) ? " -- " + std::to_string(f->getFactorList().size()) + "c " : "");
+ cout << " Ftr" << f->id() << " trk" << f->trackId() << " " << f->getType() << ((depth < 4) ? " -- " + std::to_string(f->getFactorList().size()) + "c " : "");
if (constr_by)
{
cout << " <--\t";
for (auto cby : f->getConstrainedByList())
- cout << "c" << cby->id() << " \t";
+ cout << "Fac" << cby->id() << " \t";
}
cout << endl;
if (metric)
@@ -1074,17 +1074,17 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
// Factors =======================================================================================
for (auto c : f->getFactorList())
{
- cout << " c" << c->id() << " " << c->getType() << " -->";
+ cout << " Fac" << c->id() << " " << c->getType() << " -->";
if (c->getFrameOther() == nullptr && c->getCaptureOther() == nullptr && c->getFeatureOther() == nullptr && c->getLandmarkOther() == nullptr)
- cout << " A";
+ cout << " Abs";
if (c->getFrameOther() != nullptr)
- cout << " F" << c->getFrameOther()->id();
+ cout << " Frm" << c->getFrameOther()->id();
if (c->getCaptureOther() != nullptr)
- cout << " C" << c->getCaptureOther()->id();
+ cout << " Cap" << c->getCaptureOther()->id();
if (c->getFeatureOther() != nullptr)
- cout << " f" << c->getFeatureOther()->id();
+ cout << " Fac" << c->getFeatureOther()->id();
if (c->getLandmarkOther() != nullptr)
- cout << " L" << c->getLandmarkOther()->id();
+ cout << " Lmk" << c->getLandmarkOther()->id();
cout << endl;
} // for c
}
@@ -1100,12 +1100,12 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks) c
// Landmarks =======================================================================================
for (auto L : getMap()->getLandmarkList())
{
- cout << " L" << L->id() << " " << L->getType();
+ cout << " Lmk" << L->id() << " " << L->getType();
if (constr_by)
{
cout << "\t<-- ";
for (auto cby : L->getConstrainedByList())
- cout << "c" << cby->id() << " \t";
+ cout << "Fac" << cby->id() << " \t";
}
cout << endl;
if (metric)