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Print parents when printing GaussianConditional #1143

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Merged
varunagrawal merged 2 commits into from
Mar 24, 2022
Merged

Print parents when printing GaussianConditional #1143

varunagrawal merged 2 commits into from
Mar 24, 2022

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@varunagrawal
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@varunagrawal varunagrawal commented Mar 24, 2022

Currently, GaussianConditionals don't print the parents, only the frontals. This PR fixes that.

For the following conditional

auto conditional =
      GaussianConditional::FromMeanAndStddev(X(0), A1, X(1), b, sigma);

which is just P(X0 | X1).

Before

GaussianConditional  Conditional density [x0] 
  R = [ 1 0 ]
      [ 0 1 ]
  S[x1] = [ -1 -2 ]
          [ -3 -4 ]
  d = [ 20 40 ]
isotropic dim=2 sigma=3

After

Conditional density [x0 | x1]
  R = [ 1 0 ]
      [ 0 1 ]
  S[x1] = [ -1 -2 ]
          [ -3 -4 ]
  d = [ 20 40 ]
isotropic dim=2 sigma=3

@varunagrawal varunagrawal added bugfix Fixes an issue or bug quick-review Quick and easy PR to review labels Mar 24, 2022
@varunagrawal varunagrawal requested a review from dellaert March 24, 2022 16:00
@varunagrawal varunagrawal self-assigned this Mar 24, 2022
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varunagrawal commented Mar 24, 2022

NOTE: I've converted the default print pre-text to empty string rather than GaussianConditional (since it is already printing Conditional density). Please let me know if I should undo this.

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dellaert commented Mar 24, 2022

NOTE: I've converted the default print pre-text to empty string rather than GaussianConditional (since it is already printing Conditional density). Please let me know if I should undo this.

I would prefer if you keep the default, but remove the redundant Conditional density. Also, maybe actually do print p(x0 | x1). Note lowercase p because it's a density, not a probability mass function.

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varunagrawal commented Mar 24, 2022

@dellaert done, here is the new output:

GaussianConditional p(x0 | y0 y1)
  R = [ 1 0 ]
      [ 0 1 ]
  S[y0] = [ -1 -2 ]
          [ -3 -4 ]
  S[y1] = [ -5 -6 ]
          [ -7 -8 ]
  d = [ 20 40 ]
isotropic dim=2 sigma=3

dellaert
dellaert approved these changes Mar 24, 2022
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Cool beans!

@varunagrawal varunagrawal marked this pull request as draft March 24, 2022 20:14
@varunagrawal varunagrawal marked this pull request as ready for review March 24, 2022 20:14
@varunagrawal varunagrawal reopened this Mar 24, 2022
@varunagrawal varunagrawal merged commit c693d7d into develop Mar 24, 2022
@varunagrawal varunagrawal deleted the fix/gaussian-conditional-print branch March 24, 2022 21:42
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