reduced verbosity

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];

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);
 

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);
 

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;