Add dynamic state blocks check @CaptureBase::print

src/capture/capture_base.cpp

@@ -297,30 +297,32 @@ void CaptureBase::printHeader(int _depth, std::ostream& _stream, bool _constr_by
     }
     _stream << std::endl;
 
-
-    if (_metric && _state_blocks){
-        for (const auto& key : getStructure())
+    if(getStateBlockMap().size() > 0)
+    {
+        if (_metric && _state_blocks){
+            for (const auto& key : getStructure())
+            {
+                auto sb = getStateBlock(key);
+                _stream << _tabs << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " )" << std::endl;
+            }
+        }
+        else if (_metric)
         {
-            auto sb = getStateBlock(key);
-            _stream << _tabs << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "] = ( " << sb->getState().transpose() << " )" << std::endl;
+            _stream << _tabs << (isFixed() ? "Fix" : "Est") << ", ts=" << std::setprecision(5)
+                    << getTimeStamp();
+            _stream << ",\t x= ( " << std::setprecision(2) << getState().transpose() << " )";
+            _stream << std::endl;
         }
-    }
-    else if (_metric)
-    {
-        _stream << (isFixed() ? "    Fix" : "    Est") << ", ts=" << std::setprecision(5)
-                << getTimeStamp();
-        _stream << ",\t x = ( " << std::setprecision(2) << getState().transpose() << " )";
-        _stream << std::endl;
-    }
-    else if (_state_blocks)
-    {
-        _stream << "    sb:";
-        for (const auto& key : getStructure())
+        else if (_state_blocks)
         {
-            const auto& sb = getStateBlock(key);
-            _stream << "    " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "]; ";
+            _stream << "    sb:";
+            for (const auto& key : getStructure())
+            {
+                const auto& sb = getStateBlock(key);
+                _stream << "    " << key << "[" << (sb->isFixed() ? "Fix" : "Est") << "]; ";
+            }
+            _stream << std::endl;
         }
-        _stream << std::endl;
     }