Post stanford vision

source/RobotAPI/libraries/ArmarXObjects/plugins/RequestedObjects.cpp

 #include "RequestedObjects.h"
 
+#include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
@@ -24,8 +25,11 @@ namespace armarx::objpose
     void RequestedObjects::requestObjects(
         const std::vector<armarx::ObjectID>& objectIDs, IceUtil::Time relativeTimeout)
     {
+        ARMARX_INFO << VAROUT(relativeTimeout.toMilliSeconds());
+
         if (relativeTimeout.toMilliSeconds() < 0)
         {
+            ARMARX_INFO << "Infite localization request for object ids :" << objectIDs;
             for (const auto& id : objectIDs)
             {
                 infiniteRequests.push_back(id);
@@ -33,6 +37,8 @@ namespace armarx::objpose
         }
         else
         {
+            ARMARX_INFO << "Localization request for " << relativeTimeout << " for object ids :" << objectIDs;
+
             IceUtil::Time absoluteTimeout = TimeUtil::GetTime() + relativeTimeout;
             Request req;
             req.objectIDs = objectIDs;
@@ -48,8 +54,19 @@ namespace armarx::objpose
     RequestedObjects::Update RequestedObjects::updateRequestedObjects(IceUtil::Time now)
     {
         // Remove requests with timeout.
-        while (currentRequests.size() > 0 && currentRequests.begin()->first <= now)
+
+        if(not currentRequests.empty())
         {
+            ARMARX_INFO <<  currentRequests.begin()->first - now;
+        }
+
+        while (not currentRequests.empty() and currentRequests.begin()->first <= now)
+        {
+            ARMARX_INFO << "No longer localizing objects: ";
+            for (const Request& request : currentRequests.begin()->second)
+            {
+                ARMARX_INFO << request.objectIDs;
+            }
             currentRequests.erase(currentRequests.begin());
         }
 
@@ -83,4 +100,3 @@ namespace armarx::objpose
     }
 
 }
-