Improve motion buffer print()

include/core/processor/motion_buffer.h

@@ -100,7 +100,7 @@ class MotionBuffer : public std::list<Motion>
         const Motion& getMotion(const TimeStamp& _ts) const;
         void getMotion(const TimeStamp& _ts, Motion& _motion) const;
         void split(const TimeStamp& _ts, MotionBuffer& _oldest_buffer);
-        void print(bool show_data = 0, bool show_delta = 0, bool show_delta_int = 0, bool show_jacs = 0);
+        void print(bool show_data = 0, bool show_delta = 0, bool show_delta_int = 0, bool show_jacs = 0, bool show_covs = 0);
 };
 
 } // namespace wolf

src/processor/motion_buffer.cpp

@@ -144,14 +144,14 @@ void MotionBuffer::split(const TimeStamp& _ts, MotionBuffer& _buffer_part_before
 }
 
 
-void MotionBuffer::print(bool show_data, bool show_delta, bool show_delta_int, bool show_jacs)
+void MotionBuffer::print(bool show_data, bool show_delta, bool show_delta_int, bool show_jacs, bool show_covs)
 {
     using std::cout;
     using std::endl;
 
-    if (!show_data && !show_delta && !show_delta_int && !show_jacs)
+    if (!show_data && !show_delta && !show_delta_int && !show_jacs && !show_covs)
     {
-        cout << "Buffer state [" << this->size() << "] : <";
+        cout << "Buffer size: " << this->size() << " ; time stamps: <";
         for (Motion mot : *this)
             cout << " " << mot.ts_;
         cout << " >" << endl;
@@ -165,17 +165,20 @@ void MotionBuffer::print(bool show_data, bool show_delta, bool show_delta_int, b
             if (show_data)
             {
                 cout << "   data: " << mot.data_.transpose() << endl;
-                cout << "   data cov: \n" << mot.data_cov_ << endl;
+                if (show_covs)
+                    cout << "   data cov: \n" << mot.data_cov_ << endl;
             }
             if (show_delta)
             {
                 cout << "   delta: " << mot.delta_.transpose() << endl;
-                cout << "   delta cov: \n" << mot.delta_cov_ << endl;
+                if (show_covs)
+                    cout << "   delta cov: \n" << mot.delta_cov_ << endl;
             }
             if (show_delta_int)
             {
                 cout << "   delta integrated: " << mot.delta_integr_.transpose() << endl;
-                cout << "   delta integrated cov: \n" << mot.delta_integr_cov_ << endl;
+                if (show_covs)
+                    cout << "   delta integrated cov: \n" << mot.delta_integr_cov_ << endl;
             }
             if (show_jacs)
             {