reduced debug output

source/RobotAPI/motioncontrol/MotionControl.cpp

@@ -76,12 +76,12 @@ void MoveJoints::onEnter()
         throw LocalException("Sizes of joint name list and joint value list do not match!");
     }
 
-    ARMARX_LOG << "number of joints that will be set: " << jointNames->getSize() << flush;
+    ARMARX_VERBOSE << "number of joints that will be set: " << jointNames->getSize() << flush;
 
     for (int i=0; i<jointNames->getSize(); i++)
     {
         targetJointAngles[jointNames->getVariant(i)->getString()] = targetJointValues->getVariant(i)->getFloat();
-        ARMARX_VERBOSE << "setting joint angle for joint '" << jointNames->getVariant(i)->getString() << "' to " << targetJointValues->getVariant(i)->getFloat() << std::endl;
+        ARMARX_DEBUG << "setting joint angle for joint '" << jointNames->getVariant(i)->getString() << "' to " << targetJointValues->getVariant(i)->getFloat() << std::endl;
     }
     // TODO: Set Max Velocities
 
@@ -90,7 +90,7 @@ void MoveJoints::onEnter()
     float tolerance = getInput<float>("jointTargetTolerance");
     for (int i=0; i<jointNames->getSize(); i++)
     {
-        ARMARX_VERBOSE << "creating condition (" << i << " of " << jointNames->getSize() << ")" << flush;
+        ARMARX_DEBUG << "creating condition (" << i << " of " << jointNames->getSize() << ")" << flush;
         ParameterList inrangeCheck;
         inrangeCheck.push_back(new Variant(targetJointValues->getVariant(i)->getFloat()-tolerance));
         inrangeCheck.push_back(new Variant(targetJointValues->getVariant(i)->getFloat()+tolerance));
@@ -99,11 +99,11 @@ void MoveJoints::onEnter()
         cond = cond && inrangeLiteral;
     }
 
-    ARMARX_INFO << "installing condition: EvJointTargetReached" << std::endl;
+    ARMARX_VERBOSE << "installing condition: EvJointTargetReached" << std::endl;
     targetReachedCondition = installCondition<EvJointTargetReached>(cond);
-    ARMARX_INFO << "condition installed: EvJointTargetReached" << std::endl;
+    ARMARX_VERBOSE << "condition installed: EvJointTargetReached" << std::endl;
     timeoutEvent = setTimeoutEvent(getInput<int>("timeoutInMs"), createEvent<EvTimeout>());
-    ARMARX_INFO << "timeout installed" << std::endl;
+    ARMARX_VERBOSE << "timeout installed" << std::endl;
     context->kinematicUnitPrx->setJointAngles(targetJointAngles);
 }
 
@@ -132,7 +132,7 @@ void MoveJoints::onExit()
     }
     setOutput("jointDistancesToTargets", resultList);
 
-    ARMARX_INFO << "output: " << StateUtilFunctions::getDictionaryString(getOutputParameters()) << std::endl;
+    //ARMARX_INFO << "output: " << StateUtilFunctions::getDictionaryString(getOutputParameters()) << std::endl;
 
     removeCondition(targetReachedCondition);
     removeTimeoutEvent(timeoutEvent);
@@ -822,7 +822,7 @@ void CalculateHeadIK::run()
     {
         if (kinematicChain->getNode(i)->getName().compare("VirtualCentralGaze") == 0)
         {
-            virtualJoint =  boost::dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(kinematicChain->getNode(i));
+            virtualJoint = boost::dynamic_pointer_cast<VirtualRobot::RobotNodePrismatic>(kinematicChain->getNode(i));
         }
     }
     VirtualRobot::GazeIK ikSolver(kinematicChain, virtualJoint);
@@ -831,12 +831,12 @@ void CalculateHeadIK::run()
     Eigen::Matrix3f m = Eigen::Matrix3f::Identity();
     FramedOrientationPtr targetOri = new FramedOrientation(m, targetPosition->frame);
     VirtualRobot::LinkedCoordinate target = ArmarPose::createLinkedCoordinate(robot, targetPosition, targetOri);
-    ARMARX_INFO << "Target: " << target.getPose() << armarx::flush;
+    ARMARX_VERBOSE << "Target: " << target.getPose() << armarx::flush;
     Eigen::Matrix4f goalInRoot = target.getInFrame(robot->getRootNode());
     //Eigen::Matrix4f goalGlobal = robot->getRootNode()->toGlobalCoordinateSystem(goalInRoot);
     Eigen::Vector3f targetPos = goalInRoot.block<3,1>(0,3);
 
-    ARMARX_INFO << "Calculating IK for target position " << targetPos;
+    ARMARX_VERBOSE << "Calculating IK for target position " << targetPos;
     if (!ikSolver.solve(targetPos))
     {
         ARMARX_WARNING << "IKSolver found no solution! ";
@@ -853,13 +853,13 @@ void CalculateHeadIK::run()
             {
                 jointNames.addVariant(Variant(kinematicChain->getNode(i)->getName()));
                 targetJointValues.addVariant(Variant(kinematicChain->getNode(i)->getJointValue()));
-                ARMARX_LOG << " joint: " << kinematicChain->getNode(i)->getName() << "   value: " << kinematicChain->getNode(i)->getJointValue() << flush;
+                ARMARX_VERBOSE << " joint: " << kinematicChain->getNode(i)->getName() << "   value: " << kinematicChain->getNode(i)->getJointValue() << flush;
             }
         }
-        ARMARX_LOG << "number of joints to be set: " << jointNames.getSize() << flush;
-        ARMARX_LOG << "setting output: jointNames" << flush;
+        ARMARX_VERBOSE << "number of joints to be set: " << jointNames.getSize() << flush;
+        ARMARX_VERBOSE << "setting output: jointNames" << flush;
         setOutput("jointNames", jointNames);
-        ARMARX_LOG << "setting output: targetJointValues" << flush;
+        ARMARX_VERBOSE << "setting output: targetJointValues" << flush;
         setOutput("targetJointValues", targetJointValues);
         sendEvent<EvCalculationDone>();
     }