Put operator<< in Eigen namespace

include/core/state_block/state_composite.h

@@ -26,6 +26,17 @@ typedef std::unordered_map < std::string, StateBlockPtr   > StateBlockMap;
 typedef std::unordered_map < std::string, Eigen::VectorXd > VectorComposite;
 typedef StateBlockMap::const_iterator StateBlockMapCIter;
 
+typedef std::unordered_map < std::string, Eigen::VectorXd > VectorComposite;
+
+}
+
+namespace Eigen
+{
+std::ostream& operator <<(std::ostream &_os, const wolf::VectorComposite &_x);
+}
+
+namespace wolf{
+
 class StateBlockComposite
 {
     public:
@@ -139,8 +150,6 @@ inline unsigned int MatrixComposite::count(const std::string &_row, const std::s
     return (matrix_composite_.at(_row).count(_col));
 }
 
-std::ostream& operator <<(std::ostream &_os, const VectorComposite &_x);
-
 
 template<typename SB, typename ... Args>
 inline std::shared_ptr<SB> wolf::StateBlockComposite::emplace(const std::string &_sb_type,

src/state_block/state_composite.cpp

@@ -4,6 +4,19 @@
 #include "core/state_block/state_composite.h"
 #include "core/state_block/state_block.h"
 
+namespace Eigen{
+std::ostream& operator <<(std::ostream &_os, const wolf::VectorComposite &_x)
+{
+    for (const auto &pair_key_vec : _x)
+    {
+        const auto &key = pair_key_vec.first;
+        const auto &vec = pair_key_vec.second;
+        _os << "\n  block(" << key << ") = \n" << vec;
+    }
+    return _os;
+}
+}
+
 namespace wolf
 {
 
@@ -135,18 +148,6 @@ std::ostream& operator <<(std::ostream &_os, const MatrixComposite &_M)
     return _os;
 }
 
-std::ostream& operator <<(std::ostream &_os, const VectorComposite &_x)
-{
-    for (const auto &pair_row_blk : _x)
-    {
-        const auto &row = pair_row_blk.first;
-        const auto &vec = pair_row_blk.second;
-
-        _os << "\n  block(" << row << ") = \n" << vec;
-    }
-    return _os;
-}
-
 
 const StateBlockMap& StateBlockComposite::getStateBlockMap() const
 {

test/gtest_state_composite.cpp

@@ -5,14 +5,11 @@
  *      Author: jsola
  */
 
-
-#include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
-
-#include "core/common/wolf.h"
 #include "core/state_block/state_composite.h"
 #include "core/state_block/state_quaternion.h"
 
+#include "core/utils/utils_gtest.h"
+
 using namespace wolf;
 using namespace std;
 
@@ -215,6 +212,8 @@ TEST(VectorComposite, operatorStream)
 
     cout << "x = " << x << endl;
 
+    WOLF_DEBUG("X = ", x);
+
 }
 
 TEST(MatrixComposite, emplace_operatorStream)
@@ -330,7 +329,9 @@ TEST(MatrixComposite, productVector)
     x.emplace("P", Vector2d(1,1));
     x.emplace("O", Vector3d(2,2,2));
 
-    WOLF_DEBUG("x = " , x);
+    cout << "x= " << x << endl;
+
+//    WOLF_DEBUG("x = " , x);
 
     MatrixComposite M;
 
@@ -350,7 +351,7 @@ TEST(MatrixComposite, productVector)
 
     y = M * x;
 
-    WOLF_DEBUG("y = M * x = " , y);
+//    WOLF_DEBUG("y = M * x = " , y);
 
     /*        M      *    x  =    y
      *     p    o