From 9fefe6b6d5e70d5baf34ee9711fb94c2d1e693f4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 6 Aug 2022 11:43:16 +0200
Subject: [PATCH] Improve motion buffer print()
---
include/core/processor/motion_buffer.h | 2 +-
src/processor/motion_buffer.cpp | 15 +++++++++------
2 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 4763d0bc4..7e0a1203e 100644
--- a/include/core/processor/motion_buffer.h
+++ b/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
diff --git a/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp
index f61c1b1f9..6afd1c5c7 100644
--- a/src/processor/motion_buffer.cpp
+++ b/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)
{
--
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