From 9bc558ece4933e84d31f859c2360341b4242deae Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Mon, 5 Aug 2019 14:33:32 +0200
Subject: [PATCH] Add option for less verbose output to several classes and
functions
---
GraspPlanning/ApproachMovementGenerator.cpp | 4 ++++
GraspPlanning/ApproachMovementGenerator.h | 4 ++++
GraspPlanning/ApproachMovementSurfaceNormal.cpp | 5 ++++-
GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp | 5 ++++-
GraspPlanning/MeshConverter.cpp | 7 +++++--
GraspPlanning/MeshConverter.h | 2 +-
6 files changed, 22 insertions(+), 5 deletions(-)
diff --git a/GraspPlanning/ApproachMovementGenerator.cpp b/GraspPlanning/ApproachMovementGenerator.cpp
index 494996373..0d85c3551 100644
--- a/GraspPlanning/ApproachMovementGenerator.cpp
+++ b/GraspPlanning/ApproachMovementGenerator.cpp
@@ -13,6 +13,10 @@ using namespace std;
namespace GraspStudio
{
+ void ApproachMovementGenerator::setVerbose(bool v)
+ {
+ verbose = v;
+ }
ApproachMovementGenerator::ApproachMovementGenerator(VirtualRobot::SceneObjectPtr object, VirtualRobot::EndEffectorPtr eef, const std::string& graspPreshape)
: object(object), eef(eef), graspPreshape(graspPreshape)
diff --git a/GraspPlanning/ApproachMovementGenerator.h b/GraspPlanning/ApproachMovementGenerator.h
index 48b6416e3..b96e98fc3 100644
--- a/GraspPlanning/ApproachMovementGenerator.h
+++ b/GraspPlanning/ApproachMovementGenerator.h
@@ -89,6 +89,8 @@ namespace GraspStudio
// opens hand by setting the preshape (if defined) or just opening the actors in case no preshape has been defined
virtual void openHand();
+ void setVerbose(bool v);
+
protected:
@@ -104,6 +106,8 @@ namespace GraspStudio
std::string name;
std::string graspPreshape;
+
+ bool verbose = false;
};
}
diff --git a/GraspPlanning/ApproachMovementSurfaceNormal.cpp b/GraspPlanning/ApproachMovementSurfaceNormal.cpp
index aa428a57e..a596fe387 100644
--- a/GraspPlanning/ApproachMovementSurfaceNormal.cpp
+++ b/GraspPlanning/ApproachMovementSurfaceNormal.cpp
@@ -62,7 +62,10 @@ namespace GraspStudio
storeApproachDir = (objectModel->faces[faceIndex]).normal;
if (std::abs(storeApproachDir.squaredNorm() - 1) > 1e-6f)
{
- std::cout << "Normal in trimesh not normalized! (normalizing it now)\n";
+ if (verbose)
+ {
+ std::cout << "Normal in trimesh not normalized! (normalizing it now)\n";
+ }
storeApproachDir.normalize();
}
diff --git a/GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp b/GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp
index 606c4e81c..1cb1f8178 100644
--- a/GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp
+++ b/GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp
@@ -164,7 +164,10 @@ namespace GraspStudio
// low number of contacts: check if it helps to move away (small object)
if (retreatOnLowContacts && contacts.size() < 2)
{
- VR_INFO << "Low number of contacts, retreating hand (might be useful for a small object)" << endl;
+ if (verbose)
+ {
+ VR_INFO << "Low number of contacts, retreating hand (might be useful for a small object)" << endl;
+ }
if (moveEEFAway(approach->getApproachDirGlobal(), 5.0f, 10))
{
contacts = eef->closeActors(object);
diff --git a/GraspPlanning/MeshConverter.cpp b/GraspPlanning/MeshConverter.cpp
index 913b504c6..865047b66 100644
--- a/GraspPlanning/MeshConverter.cpp
+++ b/GraspPlanning/MeshConverter.cpp
@@ -114,7 +114,7 @@ namespace GraspStudio
return -1;
}
- VirtualRobot::ObstaclePtr MeshConverter::RefineObjectSurface(VirtualRobot::ObstaclePtr object, float maxDist)
+ VirtualRobot::ObstaclePtr MeshConverter::RefineObjectSurface(VirtualRobot::ObstaclePtr object, float maxDist, bool verbose)
{
VirtualRobot::ObstaclePtr res;
@@ -130,7 +130,10 @@ namespace GraspStudio
return res;
}
- VR_INFO << "Processing object with " << tm->faces.size() << " triangles" << endl;
+ if (verbose)
+ {
+ VR_INFO << "Processing object with " << tm->faces.size() << " triangles" << endl;
+ }
// first create new object
TriMeshModelPtr triMesh2(new TriMeshModel());
diff --git a/GraspPlanning/MeshConverter.h b/GraspPlanning/MeshConverter.h
index c29bc391e..4f7f1156c 100644
--- a/GraspPlanning/MeshConverter.h
+++ b/GraspPlanning/MeshConverter.h
@@ -40,7 +40,7 @@ namespace GraspStudio
*/
static VirtualRobot::ManipulationObjectPtr CreateManipulationObject(const std::string& name, VirtualRobot::MathTools::ConvexHull3DPtr hull);
static VirtualRobot::TriMeshModelPtr CreateTriMeshModel(VirtualRobot::MathTools::ConvexHull3DPtr hull);
- static VirtualRobot::ObstaclePtr RefineObjectSurface(VirtualRobot::ObstaclePtr object, float maxDist);
+ static VirtualRobot::ObstaclePtr RefineObjectSurface(VirtualRobot::ObstaclePtr object, float maxDist, bool verbose = true);
//! Returns -1 if obj is not part of vectList, otherwise the index of vectList is returned.
static int hasVertex(std::vector< Eigen::Vector3f>& vectList, Eigen::Vector3f& obj);
--
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