diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h index 393eddb8a87c05347433e93de11cb17d05a57a06..f8de56fd5f2eb7c9281f21aca46c61fcbc66d9ed 100644 --- a/include/core/capture/capture_base.h +++ b/include/core/capture/capture_base.h @@ -102,17 +102,19 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s template<typename classType, typename... T> static std::shared_ptr<classType> emplace(FrameBasePtr _frm_ptr, T&&... all); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; protected: virtual SizeEigen computeCalibSize() const; diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h index e023de9fe9a8f4c4901514f920203d841fa92205..868ebb0373328df593537b26663169ec87e23698 100644 --- a/include/core/capture/capture_motion.h +++ b/include/core/capture/capture_motion.h @@ -101,11 +101,12 @@ class CaptureMotion : public CaptureBase CaptureBasePtr getOriginCapture() const; void setOriginCapture(CaptureBasePtr _capture_origin_ptr); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const override; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const override; // member data: private: diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h index 67134b3f1251e31fe17d889ead538aef4e33515d..ddfb449dc31624ceed35ec6941ff734c1c8b6b68 100644 --- a/include/core/factor/factor_base.h +++ b/include/core/factor/factor_base.h @@ -206,17 +206,19 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa template<typename classType, typename... T> static std::shared_ptr<classType> emplace(FeatureBasePtr _oth_ptr, T&&... all); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; private: diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h index b5d01e25605edb16e7fcf775a6321f8d58bc4624..f009a577ef375ec8fe7e8be15b87da3834cf9136 100644 --- a/include/core/feature/feature_base.h +++ b/include/core/feature/feature_base.h @@ -106,16 +106,18 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature template<typename classType, typename... T> static std::shared_ptr<classType> emplace(CaptureBasePtr _cpt_ptr, T&&... all); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; private: void setCapture(CaptureBasePtr _cap_ptr){capture_ptr_ = _cap_ptr;} diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h index 9fc19c6ab21161dbd01897e60de1f591af3de87c..21fef45a17463e01d71a59a9c3c95c6abc213200 100644 --- a/include/core/frame/frame_base.h +++ b/include/core/frame/frame_base.h @@ -131,17 +131,19 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha template<typename classType, typename... T> static std::shared_ptr<classType> emplace(TrajectoryBasePtr _ptr, T&&... all); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; private: CaptureBasePtr addCapture(CaptureBasePtr _capt_ptr); diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h index 240cf1fd1e9f89a6b13e0d4122a41cdc4d9628e0..b9123d334a23b1470c5650569024defc8c346935 100644 --- a/include/core/hardware/hardware_base.h +++ b/include/core/hardware/hardware_base.h @@ -27,16 +27,18 @@ class HardwareBase : public NodeBase, public std::enable_shared_from_this<Hardwa const SensorBasePtrList& getSensorList() const; - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; private: virtual SensorBasePtr addSensor(SensorBasePtr _sensor_ptr); diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h index 317c5c12759cfa77162cd18aa4ea3299c517f9a6..49027c2a011e4bff34654e4ac52c4b3c55aa5f7c 100644 --- a/include/core/landmark/landmark_base.h +++ b/include/core/landmark/landmark_base.h @@ -85,17 +85,19 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_ */ static LandmarkBasePtr create(const YAML::Node& _node); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; private: diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h index 6ed65e3de0e253a341a058d84d184744c4620971..81113892fdc00835b5c6d966d7f53dcfd21f0780 100644 --- a/include/core/map/map_base.h +++ b/include/core/map/map_base.h @@ -38,16 +38,18 @@ class MapBase : public NodeBase, public std::enable_shared_from_this<MapBase> void load(const std::string& _map_file_yaml); void save(const std::string& _map_file_yaml, const std::string& _map_name = "Map automatically saved by Wolf"); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; private: std::string dateTimeNow(); }; diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h index 41484d4ffde3f9d5ebda29e4bb8118788634a00d..2edffe8933ebdad75bce4f5603cd6dee771f8369 100644 --- a/include/core/processor/processor_base.h +++ b/include/core/processor/processor_base.h @@ -362,17 +362,19 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce static std::shared_ptr<classType> emplace(SensorBasePtr _sen_ptr, T&&... all); void setVotingAuxActive(bool _voting_active = true); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; }; inline bool ProcessorBase::isVotingActive() const diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h index c0ce83b758e7020f29b46c0db433cad07f8403f1..03c810e6de6740b04acfaaec32bd4a9d177f9dee 100644 --- a/include/core/processor/processor_motion.h +++ b/include/core/processor/processor_motion.h @@ -457,11 +457,12 @@ class ProcessorMotion : public ProcessorBase, public IsMotion void setDistTraveled(const double& _dist_traveled); void setAngleTurned(const double& _angle_turned); - void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const override; + void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const override; protected: // Attributes diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h index cc9aa3e4363468c8c451da9a59e9e51773a8d25a..116dbec0f4dd0db23d790ccbd64cb4a9ff195f8e 100644 --- a/include/core/processor/processor_tracker.h +++ b/include/core/processor/processor_tracker.h @@ -246,11 +246,12 @@ class ProcessorTracker : public ProcessorBase return this->params_tracker_->print(); } - void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const override; + void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const override; protected: diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h index 461ac56c60927a9570ec99e369de0129f9124a80..78dea51330c6114997cf9a7875720a7e7781adce 100644 --- a/include/core/sensor/sensor_base.h +++ b/include/core/sensor/sensor_base.h @@ -242,16 +242,18 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh Eigen::VectorXd getNoiseStd() const; Eigen::MatrixXd getNoiseCov() const; - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; void link(HardwareBasePtr); diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h index 66122cf2f45246a6142507d5138a25bedfd81b00..a1974820339614701b177403a332864b999d6d20 100644 --- a/include/core/trajectory/trajectory_base.h +++ b/include/core/trajectory/trajectory_base.h @@ -47,16 +47,18 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj void sortFrame(FrameBasePtr _frm_ptr); void updateLastFrames(); - virtual void printHeader(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; - void print(std::string _tabs, int depth, // - std::ostream& stream , - bool constr_by, // - bool metric, // - bool state_blocks) const; + virtual void printHeader(int depth, // + std::ostream& stream , + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; + void print(int depth, // + std::ostream& stream, + bool constr_by, // + bool metric, // + bool state_blocks, + std::string _tabs = "") const; private: FrameBasePtr addFrame(FrameBasePtr _frame_ptr); void removeFrame(FrameBasePtr _frame_ptr); diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp index 456c9451236b649d871782fea2d8f8716b6c71f2..b3c88e1595cd7ff38439e227c2c8c3faa70f6955 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void CaptureBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "Cap" << id() << " " << getType(); @@ -338,11 +338,11 @@ void CaptureBase::printHeader(std::string _tabs, int _depth, std::ostream& _stre // } // } } -void CaptureBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void CaptureBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); if (_depth >= 3) for (auto f : getFeatureList()) - f->print(_tabs + " ", _depth, _stream, _constr_by, _metric, _state_blocks); + f->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " "); } } // namespace wolf diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp index 43b32071e18b6f31868fcdeb02f444c5371fd01c..2952a97a81ad1fdcdc32594204c5ed32f818627f 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void CaptureMotion::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "CapM" << id() << " " << getType(); diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp index 67c9d44f8d918df7a4af94297851a78ba880da2b..03a2898fb7e4a1277a772c281dd40429879d9f8a 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void FactorBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "Fac" << id() << " " << getType() << " -->"; if ( getFrameOtherList() .empty() @@ -323,8 +323,8 @@ void FactorBase::printHeader(std::string _tabs, int _depth, std::ostream& _strea _stream << std::endl; } -void FactorBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void FactorBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); } } // namespace wolf diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp index d48101d9ef2db50ebca1ab217f2f4d6889816742..bde4b4944e74446647922c09b98f9fb47a85d032 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void FeatureBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, 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(std::string _tabs, int _depth, std::ostream& _stre } -void FeatureBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void FeatureBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); if (_depth >= 4) for (auto c : getFactorList()) - c->print(_tabs + " ", _depth, _stream, _constr_by, _metric, _state_blocks); + c->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " "); } } // namespace wolf diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp index f34fa3a2b9726ceb50dbea158797307a6eef1d38..f093b55bad2e6c8718d8fc20bcda54f2f974b000 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void FrameBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, 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(std::string _tabs, int _depth, std::ostream& _stream } } -void FrameBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void FrameBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); if (_depth >= 2) for (auto C : getCaptureList()) - C->print(_tabs + " ", _depth, _stream, _constr_by, _metric, _state_blocks); + C->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " "); } } // namespace wolf diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp index 740aabe26da52ce5a6588b5ff53cc804f381ba15..7d3e3c2a4274eaa88d3a949f6b293993e221ec8a 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void HardwareBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "Hardware" << ((_depth < 1) ? (" -- " + std::to_string(getSensorList().size()) + "S") : "") << std::endl; } -void HardwareBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void HardwareBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); if (_depth >= 1) for (auto S : getSensorList()) - S->print(_tabs + " ", _depth, _stream, _constr_by, _metric, _state_blocks); + S->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " "); } } // namespace wolf diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp index 0941ece13d5ffceb48fce987d04da6b3d93ab89b..9c93ba591ed43350984360ac9e01ee128aea1132 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void LandmarkBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "Lmk" << id() << " " << getType(); if (_constr_by) @@ -189,9 +189,9 @@ void LandmarkBase::printHeader(std::string _tabs, int _depth, std::ostream& _str } } -void LandmarkBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void LandmarkBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); } LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node) { diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp index 791438acf0aca6686d85ebe08272bc916256e099..6dc86a98e169def22a598a433cd04cf991f2a223 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void MapBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "Map" << ((_depth < 1) ? (" -- " + std::to_string(getLandmarkList().size()) + "L") : "") << std::endl; } -void MapBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void MapBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); if (_depth >= 1) for (auto L : getLandmarkList()) - L->print(_tabs + " ", _depth, _stream, _constr_by, _metric, _state_blocks); + L->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " "); } } // namespace wolf diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp index 3e9abf1ea460f7ccc4aeea29dc65de3425c20dba..edd4a25e28ef980d639983a41fbc05c7bed83242 100644 --- a/src/problem/problem.cpp +++ b/src/problem/problem.cpp @@ -958,11 +958,11 @@ void Problem::print(int _depth, std::ostream& _stream, bool _constr_by, bool _me _stream << std::endl; _stream << "P: wolf tree status ---------------------" << std::endl; - getHardware()->print("", _depth, _stream, _constr_by, _metric, _state_blocks); + getHardware()->print(_depth, _stream, _constr_by, _metric, _state_blocks); - getTrajectory()->print("", _depth, _stream, _constr_by, _metric, _state_blocks); + getTrajectory()->print(_depth, _stream, _constr_by, _metric, _state_blocks); - getMap()->print("", _depth, _stream, _constr_by, _metric, _state_blocks); + getMap()->print(_depth, _stream, _constr_by, _metric, _state_blocks); _stream << "-----------------------------------------" << std::endl; _stream << std::endl; diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp index 4d3aa3a38c249b44babb7a4f1ddb32b0a1126710..bfcf89fa194aca54ddcaacf916c5387ea1929cbf 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void ProcessorBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "Prc" << id() << " " << getType() << " \"" << getName() << "\"" << std::endl; } -void ProcessorBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void ProcessorBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); } } // namespace wolf diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp index 9ebeebe91b9556416a02c7f033c2dadf93dd85d7..9c512a923bb698fb67b440bfacaf9f7a0ba9661f 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void ProcessorMotion::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, 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 5de9a091d79012f82e24cf192f30a0b5d74c168b..2a1703b3d058c56ef8ffd0e299e4cef554e0e9fd 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void ProcessorTracker::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, 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 f3d2499065606900264040868643df255266ec43..4089d3c951c691472a76adefcadd1b9ce4123b07 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void SensorBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "Sen" << id() << " " << getType() << " \"" << getName() << "\""; if (_depth < 2) @@ -509,12 +509,12 @@ void SensorBase::printHeader(std::string _tabs, int _depth, std::ostream& _strea } } -void SensorBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void SensorBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); if (_depth >= 2) for (auto p : getProcessorList()) - p->print(_tabs + " ", _depth, _stream, _constr_by, _metric, _state_blocks); + p->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " "); } } // namespace wolf diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp index 3fb3ff0a89aa45c7e8da6d0e2e4a55f09606d174..087b79af934d2afac3c160a620d255d89bf5d14b 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(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void TrajectoryBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { _stream << _tabs << "Trajectory" << ((_depth < 1) ? (" -- " + std::to_string(getFrameList().size()) + "F") : "") << std::endl; } -void TrajectoryBase::print(std::string _tabs, int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks) const +void TrajectoryBase::print(int _depth, std::ostream& _stream, bool _constr_by, bool _metric, bool _state_blocks, std::string _tabs) const { - printHeader(_tabs, _depth, _stream, _constr_by, _metric, _state_blocks); + printHeader(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs); if (_depth >= 1) for (auto F : getFrameList()) - F->print(_tabs + " ", _depth, _stream, _constr_by, _metric, _state_blocks); + F->print(_depth, _stream, _constr_by, _metric, _state_blocks, _tabs + " "); } } // namespace wolf