polynomial: improve and test print function.

include/roboptim/trajectory/polynomial.hxx

@@ -86,8 +86,8 @@ namespace trajectory
   template <int N>
   std::ostream& Polynomial<N>::print (std::ostream& o) const
   {
-    o << "f = ";
     bool printed_before = false;
+
     for (int idx = N; idx > 0; idx--)
       {
 	if (std::abs (coefs_[idx])
@@ -110,7 +110,16 @@ namespace trajectory
       {
 	o << coefs_[0];
       }
-    o << "\t" << "( x = t - " << t0_ << " )";
+
+    if (printed_before)
+    {
+      if (std::abs (t0_)
+          > std::numeric_limits<value_type>::epsilon ())
+        o << " (x = t - " << t0_ << ")";
+      else
+        o << " (x = t)";
+    }
+
     return o;
   }
 

tests/polynomial.cc

@@ -16,7 +16,7 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with roboptim.  If not, see <http://www.gnu.org/licenses/>.
 
-#include "shared-tests/common.hh"
+#include "shared-tests/fixture.hh"
 
 #include <roboptim/trajectory/polynomial.hh>
 #include <roboptim/trajectory/polynomial-3.hh>
@@ -503,6 +503,35 @@ void test_misc ()
   BOOST_CHECK (func (x)[0] == p (x[0]));
 }
 
+void test_print ()
+{
+  boost::shared_ptr<boost::test_tools::output_test_stream>
+    output = retrievePattern ("polynomial");
+
+  typedef roboptim::trajectory::Polynomial<3> poly3_t;
+
+  typename poly3_t::coefs_t params;
+  params.setZero ();
+
+  poly3_t null (1., params);
+  (*output) << null << std::endl;
+
+  params[0] = 42;
+  poly3_t constant (2., params);
+  (*output) << constant << std::endl;
+
+  params[1] = 1;
+  poly3_t linear1 (0., params);
+  (*output) << linear1 << std::endl;
+
+  poly3_t linear2 (3., params);
+  (*output) << linear2 << std::endl;
+
+  std::cout << output->str () << std::endl;
+
+  BOOST_CHECK (output->match_pattern ());
+}
+
 BOOST_AUTO_TEST_CASE (trajectory_polynomial)
 {
   srand (static_cast<unsigned int> (time (NULL)));
@@ -530,6 +559,8 @@ BOOST_AUTO_TEST_CASE (trajectory_polynomial)
 
   test_misc<3> ();
   test_misc<5> ();
+
+  test_print ();
 }
 
 BOOST_AUTO_TEST_SUITE_END ()

tests/polynomial.stdout

@@ -0,0 +1,4 @@
+0
+42
+1 * x**1 + 42 (x = t)
+1 * x**1 + 42 (x = t - 3)