From 61c0b4f0e58340518f935a2da633ab59e14efe7d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 13 Dec 2020 13:12:32 +0100
Subject: [PATCH] params print
---
.../bodydynamics/processor/processor_force_torque_preint.h | 4 ++--
.../bodydynamics/processor/processor_inertial_kinematics.h | 4 ++--
include/bodydynamics/sensor/sensor_force_torque.h | 4 ++--
include/bodydynamics/sensor/sensor_inertial_kinematics.h | 4 ++--
test/gtest_processor_force_torque_preint.cpp | 1 -
5 files changed, 8 insertions(+), 9 deletions(-)
diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index d2dd19c..3785468 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_preint.h
@@ -24,9 +24,9 @@ struct ParamsProcessorForceTorquePreint : public ParamsProcessorMotion
dimc = _server.getParam<int>(_unique_name + "/dimc_");
}
~ParamsProcessorForceTorquePreint() override = default;
- std::string print() const
+ std::string print() const override
{
- return "\n" + ParamsProcessorMotion::print() + "\n"
+ return ParamsProcessorMotion::print() + "\n"
+ "sensor_ikin_name: " + sensor_ikin_name + "\n"
+ "sensor_angvel_name: " + sensor_angvel_name + "\n"
+ "nbc_: " + std::to_string(nbc) + "\n"
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index 344f83b..63bc63f 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/include/bodydynamics/processor/processor_inertial_kinematics.h
@@ -23,9 +23,9 @@ struct ParamsProcessorInertialKinematics : public ParamsProcessorBase
std_bp_drift = _server.getParam<double>(_unique_name + "/std_bp_drift");
}
~ParamsProcessorInertialKinematics() override = default;
- std::string print() const
+ std::string print() const override
{
- return "\n" + ParamsProcessorBase::print() + "\n"
+ return ParamsProcessorBase::print() + "\n"
+ "sensor_angvel_name: " + sensor_angvel_name + "\n"
+ "std_bp_drift: " + std::to_string(std_bp_drift) + "\n";
}
diff --git a/include/bodydynamics/sensor/sensor_force_torque.h b/include/bodydynamics/sensor/sensor_force_torque.h
index af68202..761ba5c 100644
--- a/include/bodydynamics/sensor/sensor_force_torque.h
+++ b/include/bodydynamics/sensor/sensor_force_torque.h
@@ -27,9 +27,9 @@ struct ParamsSensorForceTorque : public ParamsSensorBase
std_tau = _server.getParam<double>(_unique_name + "/std_tau");
}
~ParamsSensorForceTorque() override = default;
- std::string print() const
+ std::string print() const override
{
- return "\n" + ParamsSensorBase::print() + "\n"
+ return ParamsSensorBase::print() + "\n"
+ "mass: " + std::to_string(mass) + "\n"
+ "std_f: " + std::to_string(std_f) + "\n"
+ "std_tau: " + std::to_string(std_tau) + "\n";
diff --git a/include/bodydynamics/sensor/sensor_inertial_kinematics.h b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
index 6c59b0c..73c1832 100644
--- a/include/bodydynamics/sensor/sensor_inertial_kinematics.h
+++ b/include/bodydynamics/sensor/sensor_inertial_kinematics.h
@@ -25,9 +25,9 @@ struct ParamsSensorInertialKinematics : public ParamsSensorBase
std_vbc = _server.getParam<double>(_unique_name + "/std_vbc");
}
~ParamsSensorInertialKinematics() override = default;
- std::string print() const
+ std::string print() const override
{
- return "\n" + ParamsSensorBase::print() + "\n"
+ return ParamsSensorBase::print() + "\n"
+ "std_pbc: " + std::to_string(std_pbc) + "\n"
+ "std_vbc: " + std::to_string(std_vbc) + "\n";
}
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index 479538d..1d9a96c 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -129,7 +129,6 @@ public:
params_sen_ft->dist_traveled = 20000.0;
params_sen_ft->angle_turned = 1000;
params_sen_ft->voting_active = true;
- params_sen_ft->voting_aux_active = false;
ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorquePreint", "PFTPreint", sen_ft_, params_sen_ft);
// ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorquePreint", "PFTPreint", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint");
proc_ftpreint_ = std::static_pointer_cast<ProcessorForceTorquePreint>(proc_ft_base);
--
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