From 1a4eaa40d7c49be583eec1fd215854a7558e2fa2 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 4 Oct 2022 15:04:53 +0200
Subject: [PATCH] reduced verbosity
---
.../armarx/navigation/algorithms/astar/Planner2D.cpp | 3 ++-
source/armarx/navigation/global_planning/AStar.cpp | 8 ++++----
source/armarx/navigation/global_planning/SPFA.cpp | 11 ++++++-----
.../optimization/OrientationOptimizer.cpp | 2 +-
4 files changed, 13 insertions(+), 11 deletions(-)
diff --git a/source/armarx/navigation/algorithms/astar/Planner2D.cpp b/source/armarx/navigation/algorithms/astar/Planner2D.cpp
index 05e3e9be..73f1219a 100644
--- a/source/armarx/navigation/algorithms/astar/Planner2D.cpp
+++ b/source/armarx/navigation/algorithms/astar/Planner2D.cpp
@@ -4,6 +4,7 @@
#include <cmath>
#include <VirtualRobot/CollisionDetection/CollisionModel.h>
+#include "ArmarXCore/core/logging/Logging.h"
namespace armarx::navigation::algorithm::astar
{
@@ -71,7 +72,7 @@ namespace armarx::navigation::algorithm::astar
{
if (!hasParameter(s))
{
- std::cout << "Warning, parameter " << s << " not set, returning 0" << std::endl;
+ ARMARX_WARNING << "Parameter " << s << " not set, returning 0";
return 0.0f;
}
return parameters[s];
diff --git a/source/armarx/navigation/global_planning/AStar.cpp b/source/armarx/navigation/global_planning/AStar.cpp
index 6765a908..276f1f3a 100644
--- a/source/armarx/navigation/global_planning/AStar.cpp
+++ b/source/armarx/navigation/global_planning/AStar.cpp
@@ -235,8 +235,8 @@ namespace armarx::navigation::global_planning
smoothPlan.pop_back();
ARMARX_TRACE;
- auto trajectory =
- core::GlobalTrajectory::FromPath(start, conv::to3D(smoothPlan), goal, params.linearVelocity);
+ auto trajectory = core::GlobalTrajectory::FromPath(
+ start, conv::to3D(smoothPlan), goal, params.linearVelocity);
// TODO(fabian.reister): resampling of trajectory
@@ -262,8 +262,8 @@ namespace armarx::navigation::global_planning
}
}
- ARMARX_IMPORTANT << "Resampled trajectory contains " << resampledTrajectory->points().size()
- << " points";
+ ARMARX_VERBOSE << "Resampled trajectory contains " << resampledTrajectory->points().size()
+ << " points";
resampledTrajectory->setMaxVelocity(params.linearVelocity);
diff --git a/source/armarx/navigation/global_planning/SPFA.cpp b/source/armarx/navigation/global_planning/SPFA.cpp
index 9f309e54..17b1aaae 100644
--- a/source/armarx/navigation/global_planning/SPFA.cpp
+++ b/source/armarx/navigation/global_planning/SPFA.cpp
@@ -94,8 +94,8 @@ namespace armarx::navigation::global_planning
ARMARX_CHECK(scene.staticScene.has_value());
ARMARX_CHECK(scene.staticScene->distanceToObstaclesCostmap.has_value());
- algorithms::spfa::ShortestPathFasterAlgorithm planner(*scene.staticScene->distanceToObstaclesCostmap,
- spfaParams);
+ algorithms::spfa::ShortestPathFasterAlgorithm planner(
+ *scene.staticScene->distanceToObstaclesCostmap, spfaParams);
const Eigen::Vector2f goalPos = conv::to2D(goal.translation());
@@ -158,7 +158,8 @@ namespace armarx::navigation::global_planning
// smoothPlan.pop_back();
ARMARX_TRACE;
- auto trajectory = core::GlobalTrajectory::FromPath(start, wpts, goal, params.linearVelocity);
+ auto trajectory =
+ core::GlobalTrajectory::FromPath(start, wpts, goal, params.linearVelocity);
// TODO(fabian.reister): resampling of trajectory
@@ -183,8 +184,8 @@ namespace armarx::navigation::global_planning
resampledTrajectory = trajectory;
}
- ARMARX_IMPORTANT << "Resampled trajectory contains " << resampledTrajectory->points().size()
- << " points";
+ ARMARX_VERBOSE << "Resampled trajectory contains " << resampledTrajectory->points().size()
+ << " points";
resampledTrajectory->setMaxVelocity(params.linearVelocity);
diff --git a/source/armarx/navigation/global_planning/optimization/OrientationOptimizer.cpp b/source/armarx/navigation/global_planning/optimization/OrientationOptimizer.cpp
index 94a42162..206bc90b 100644
--- a/source/armarx/navigation/global_planning/optimization/OrientationOptimizer.cpp
+++ b/source/armarx/navigation/global_planning/optimization/OrientationOptimizer.cpp
@@ -192,7 +192,7 @@ namespace armarx::navigation::global_planning::optimization
// Run the solver!
ceres::Solver::Options options;
options.linear_solver_type = ceres::DENSE_QR;
- options.minimizer_progress_to_stdout = true;
+ options.minimizer_progress_to_stdout = false;
options.max_num_iterations = 100;
options.function_tolerance = 0.01;
--
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