Merge pull request #757 from JuliaRobotics/21Q2/maint/showmanif

show manifold on printVariable

Author: dehann

Project.toml

@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.14.0"
+version = "0.14.1"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"

src/services/CustomPrinting.jl

@@ -26,7 +26,9 @@ function printVariable( io::IO, vert::DFGVariable;
         println(ioc, "  initilized: ", isInitialized(vert))
         println(ioc, "  tags: ", getTags(vert))
         try
-            println(ioc, "  manifold: ", getManifolds(vert))
+            print(ioc, "  manifold: ")
+            show(ioc, getManifold(vert))
+            println(ioc, "")
         catch e
         end
         solk = listSolveKeys(vert) |> collect

src/services/DFGVariable.jl

@@ -72,7 +72,7 @@ function getDimension end
     $SIGNATURES
 Interface function to return the `<:ManifoldsBase.Manifold` object of `variableType<:InferenceVariable`, extend this function for all `Types<:InferenceVariable`.
 """
-function getManifold end
+getManifold(vari::DFGVariable) = getVariableType(vari) |> getManifold
 
 # """
 #     $SIGNATURES