Improve Frame::printHeader()

src/frame/frame_base.cpp

@@ -383,7 +383,9 @@ void FrameBase::setProblem(ProblemPtr _problem)
 
 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  " : "");
+    _stream << _tabs << (isKeyOrAux() ? (isKey() ? "KFrm" : "AFrm") : "Frm") << id()
+            << ", ts=" << std::setprecision(5) << getTimeStamp() << std::setprecision(2)
+            << ((_depth < 2) ? " -- " + std::to_string(getCaptureList().size()) + "C  " : "");
     if (_constr_by)
     {
         _stream << "  <-- ";
@@ -393,16 +395,16 @@ void FrameBase::printHeader(int _depth, bool _constr_by, bool _metric, bool _sta
     _stream << std::endl;
 
     if (_metric && _state_blocks){
+//        _stream << _tabs << "  " << "ts=" << std::setprecision(5) << getTimeStamp() << std::endl;
         for (const auto& key : getStructure())
         {
             auto sb = getStateBlock(key);
-            _stream << "    " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " )" << std::endl;
+            _stream << _tabs << "  " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " )" << std::endl;
         }
     }
     else if (_metric)
     {
-        _stream << _tabs << "  " << (isFixed() ? "Fix" : "Est") << ", ts=" << std::setprecision(5)
-                << getTimeStamp();
+        _stream << _tabs << "  " << (isFixed() ? "Fix" : "Est"); // << ", ts=" << std::setprecision(5) << getTimeStamp();
         _stream << ",\t x = ( " << std::setprecision(2) << getStateVector().transpose() << " )";
         _stream << std::endl;
     }