diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index e2616867b47ba7e06a39797b880098526546cc64..9395251d950e148ada8efc53b1e4be4cb8427a08 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -226,7 +226,6 @@ void CeresManager::removeConstraint(const unsigned int& _corr_id)
void CeresManager::addStateBlock(StateBlock* _st_ptr)
{
//std::cout << "Adding State Unit with size: " << _st_ptr->getSize() << std::endl;
- //_st_ptr->print();
if (_st_ptr->hasLocalParametrization())
{
@@ -270,7 +269,6 @@ void CeresManager::updateStateBlockStatus(StateBlock* _st_ptr)
ceres::CostFunction* CeresManager::createCostFunction(ConstraintBase* _corrPtr, const bool _self_auto_diff)
{
//std::cout << "adding ctr " << _corrPtr->nodeId() << std::endl;
- //_corrPtr->print();
if (_corrPtr->getJacobianMethod() == ANALYTIC)
return new CostFunctionWrapper((ConstraintAnalytic*)_corrPtr);
diff --git a/src/constraint_analytic.cpp b/src/constraint_analytic.cpp
index 511c464dff2755ad1b60768da7f82eccb559cfce..e8bf6053d0a528f0aca4d1222c0e601cc18bb35d 100644
--- a/src/constraint_analytic.cpp
+++ b/src/constraint_analytic.cpp
@@ -160,19 +160,6 @@ JacobianMethod ConstraintAnalytic::getJacobianMethod() const
return ANALYTIC;
}
-//void ConstraintAnalytic::print(unsigned int _ntabs, std::ostream& _ost) const
-//{
-// NodeLinked::printSelf(_ntabs, _ost);
-// for (unsigned int ii = 0; ii<state_block_sizes_vector_.size(); ii++)
-// {
-// printTabs(_ntabs);
-// _ost << "block " << ii << ": ";
-// for (unsigned int jj = 0; jj<state_block_sizes_vector_.at(ii); jj++)
-// _ost << *(state_ptr_vector_.at(ii)->getPtr()+jj) << " ";
-// _ost << std::endl;
-// }
-//}
-
void ConstraintAnalytic::resizeVectors()
{
for (unsigned int ii = 1; ii<state_ptr_vector_.size(); ii++)
diff --git a/src/constraint_analytic.h b/src/constraint_analytic.h
index 5384a8324244ba949af06bcfa428cd22e3a4ab58..2b6e3693810f9397e60df7c612685b1b516b8fad 100644
--- a/src/constraint_analytic.h
+++ b/src/constraint_analytic.h
@@ -153,8 +153,6 @@ class ConstraintAnalytic: public ConstraintBase
**/
virtual JacobianMethod getJacobianMethod() const;
-// virtual void print(unsigned int _ntabs = 0, std::ostream& _ost = std::cout) const;
-
private:
void resizeVectors();
};
diff --git a/src/constraint_sparse.h b/src/constraint_sparse.h
index df2a4ec3d7d46a3f5b9ba2b1cec2475dd8997e46..5a03a341cd8bb606d1280fa478727602a973d3a9 100644
--- a/src/constraint_sparse.h
+++ b/src/constraint_sparse.h
@@ -135,8 +135,6 @@ class ConstraintSparse: public ConstraintBase
**/
virtual unsigned int getSize() const;
-// virtual void print(unsigned int _ntabs = 0, std::ostream& _ost = std::cout) const;
-
private:
void resizeVectors();
};
@@ -496,39 +494,6 @@ unsigned int ConstraintSparse<MEASUREMENT_SIZE,
return MEASUREMENT_SIZE;
}
-//template <const unsigned int MEASUREMENT_SIZE,
-// unsigned int BLOCK_0_SIZE,
-// unsigned int BLOCK_1_SIZE,
-// unsigned int BLOCK_2_SIZE,
-// unsigned int BLOCK_3_SIZE,
-// unsigned int BLOCK_4_SIZE,
-// unsigned int BLOCK_5_SIZE,
-// unsigned int BLOCK_6_SIZE,
-// unsigned int BLOCK_7_SIZE,
-// unsigned int BLOCK_8_SIZE,
-// unsigned int BLOCK_9_SIZE>
-//void ConstraintSparse<MEASUREMENT_SIZE,
-// BLOCK_0_SIZE,
-// BLOCK_1_SIZE,
-// BLOCK_2_SIZE,
-// BLOCK_3_SIZE,
-// BLOCK_4_SIZE,
-// BLOCK_5_SIZE,
-// BLOCK_6_SIZE,
-// BLOCK_7_SIZE,
-// BLOCK_8_SIZE,
-// BLOCK_9_SIZE>::print(unsigned int _ntabs, std::ostream& _ost) const
-//{
-// NodeLinked::printSelf(_ntabs, _ost);
-// for (unsigned int ii = 0; ii<state_block_sizes_vector_.size(); ii++)
-// {
-// printTabs(_ntabs);
-// _ost << "block " << ii << ": ";
-// for (unsigned int jj = 0; jj<state_block_sizes_vector_.at(ii); jj++)
-// _ost << *(state_ptr_vector_.at(ii)->getPtr()+jj) << " ";
-// _ost << std::endl;
-// }
-//}
template <const unsigned int MEASUREMENT_SIZE,
unsigned int BLOCK_0_SIZE,
diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp
index 69fbaac1a4eeb5089fffcb6009240b7d24aa5ed1..20a13307fbff7c6409f88ab3c3ef132c86cba647 100644
--- a/src/examples/test_autodiff.cpp
+++ b/src/examples/test_autodiff.cpp
@@ -325,7 +325,6 @@ int main(int argc, char** argv)
usleep(100000 - 1e6 * dt);
// std::cout << "\nTree after step..." << std::endl;
-// wolf_manager->getProblemPtr()->print();
}
// DISPLAY RESULTS ============================================================================================
@@ -340,7 +339,6 @@ int main(int argc, char** argv)
std::cout << " loop time: " << mean_times(6) << std::endl;
// std::cout << "\nTree before deleting..." << std::endl;
-// wolf_manager->getProblemPtr()->print();
// // Draw Final result -------------------------
// std::vector<double> landmark_vector;
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index e3431fd54718399ed4f0fc427a274e671d23d10e..6f448de29b1ad2c32b840dd8d0f947b7a8b636d2 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -278,7 +278,6 @@ int main(int argc, char** argv)
usleep(100000 - 1e6 * dt);
// std::cout << "\nTree after step..." << std::endl;
-// wolf_manager->getProblemPtr()->print();
}
// DISPLAY RESULTS ============================================================================================
@@ -293,7 +292,6 @@ int main(int argc, char** argv)
std::cout << " loop time: " << mean_times(6) << std::endl;
// std::cout << "\nTree before deleting..." << std::endl;
-// wolf_manager->getProblemPtr()->print();
// Draw Final result -------------------------
std::vector<double> landmark_vector;
diff --git a/src/examples/test_gps_wolf.cpp b/src/examples/test_gps_wolf.cpp
index a7a2232b78cf767eb5a35f7cbc4fbcbc2125a648..06ac7d12f33e47705f632ae61a9951fcdfeda09d 100644
--- a/src/examples/test_gps_wolf.cpp
+++ b/src/examples/test_gps_wolf.cpp
@@ -120,7 +120,6 @@ int main(int argc, char** argv)
cout << summary.FullReport() << endl;
}
- //wolf_manager_->getProblemPtr()->print(2);
//
std::cout << setprecision(12);
std::cout << "\n~~~~ RESULTS ~~~~\n";
diff --git a/src/examples/test_node_linked.cpp b/src/examples/test_node_linked.cpp
index 0b3341f5220d2cea75b2cbc0dc619a1240506790..5ee578afcb2dff0f5d3363bcaae7ac282ffdc716 100644
--- a/src/examples/test_node_linked.cpp
+++ b/src/examples/test_node_linked.cpp
@@ -107,7 +107,6 @@ int main()
MeasurementN* sensor_data_laser_(new MeasurementN(180));
MeasurementN* sensor_data_cam_2_(new MeasurementN(480));
MeasurementN* sensor_data_radar_(new MeasurementN(90));
-// trajectory_->print();
cout << "========================================================" << endl;
cout << endl << "TEST 2. Build tree dependencies" << endl;
@@ -117,12 +116,10 @@ int main()
trajectory_->addDownNode(frame_1_);
trajectory_->addDownNode(frame_2_);
trajectory_->linkToUpperNode(problem_);
-// trajectory_->print();
cout << "========================================================" << endl;
cout << endl << "TEST 3. Modify one of the nodes (add new node), once tree has been constructed" << endl;
frame_2_->addDownNode(sensor_data_radar_);
-// trajectory_->print();
cout << "========================================================" << endl;
cout << endl << "TEST 4. Remove nodes" << endl;
@@ -132,7 +129,6 @@ int main()
sensor_data_cam_1_ = nullptr;
sensor_data_laser_ = nullptr;;
trajectory_->removeDownNode(f1_id_);
-// trajectory_->print();
cout << "========================================================" << endl;
cout << endl << "TEST 5. getTop()" << endl;
diff --git a/src/examples/test_virtual_hierarchy.cpp b/src/examples/test_virtual_hierarchy.cpp
index 32372ee908104702c0998f00bab05b3ed2786115..2d2e4848e00829c50558500c6e7d6d2d44b05623 100644
--- a/src/examples/test_virtual_hierarchy.cpp
+++ b/src/examples/test_virtual_hierarchy.cpp
@@ -216,7 +216,6 @@ class CorNode : public Cor, public ChildOf<FeaNode>, public Bot//, public Explor
public:
CorNode(FeaNode* _fea_ptr) : ChildOf<FeaNode>(_fea_ptr) { }
virtual ~CorNode() { }
-// void print();
};
//class TrSNode : public virtual N
//{
diff --git a/src/node_linked.h b/src/node_linked.h
index fc0655be7bbc4369632fe30bac6e404857a7a2e6..955265ca22313627bb1f82dff36d9abc97e95b39 100644
--- a/src/node_linked.h
+++ b/src/node_linked.h
@@ -135,41 +135,9 @@ class NodeLinked : public NodeBase
**/
virtual WolfProblem* getTop();
-// /** \brief Prints node information
-// *
-// * Prints node information.
-// * \param _ntabs number of tabulations to print at the left of the printed information
-// * \param _ost output stream
-// *
-// * Overload this function in derived classes to adapt the printed output to each object's relevant info.
-// *
-// */
-// virtual void print(unsigned int _ntabs = 0, std::ostream& _ost = std::cout) const;
protected:
-// /** \brief Prints tabulated information about this node.
-// *
-// * Prints information about this node. It adds a number of tabs given by _ntabs.
-// *\param _ntabs the number of tabs.
-// *\param _ost the stream it prints to
-// *
-// */
-// virtual void printSelf(unsigned int _ntabs = 0, std::ostream& _ost = std::cout) const;
-
-// /** \brief Prints upper node info
-// *
-// * Prints upper node info
-// *
-// **/
-// void printUpper(unsigned int _ntabs = 0, std::ostream& _ost = std::cout) const;
-
-// /** \brief Prints recursively lower node info
-// *
-// * Prints recursively lower node info
-// *
-// **/
-// void printLower(unsigned int _ntabs = 0, std::ostream& _ost = std::cout) const;
};
//////////////////////////////////////////
@@ -346,66 +314,6 @@ WolfProblem* NodeLinked<UpperType, LowerType>::getTop()
return nullptr;
}
-//template<class UpperType, class LowerType>
-//void NodeLinked<UpperType, LowerType>::print(unsigned int _ntabs, std::ostream& _ost) const
-//{
-// printSelf(_ntabs, _ost); //one line
-//
-// if ((location_ != TOP) && (up_node_ptr_ != nullptr))
-// {
-// printUpper(_ntabs, _ost);
-// }
-// if (location_ != BOTTOM)
-// {
-// printLower(_ntabs, _ost);
-// }
-//}
-
-//template<class UpperType, class LowerType>
-//void NodeLinked<UpperType, LowerType>::printSelf(unsigned int _ntabs, std::ostream& _ost) const
-//{
-// printTabs(_ntabs);
-// _ost << nodeLabel() << " " << nodeId() << " : ";
-// switch (location_)
-// {
-// case TOP:
-// _ost << "TOP" << std::endl;
-// break;
-// case MID:
-// _ost << "MID" << std::endl;
-// break;
-// case BOTTOM:
-// _ost << "BOT" << std::endl;
-// break;
-// default:
-// _ost << "*" << std::endl;
-// break;
-// }
-//}
-
-//template<class UpperType, class LowerType>
-//void NodeLinked<UpperType, LowerType>::printUpper(unsigned int _ntabs, std::ostream& _ost) const
-//{
-// printTabs(_ntabs);
-// _ost << "\tUpper Node --> " << up_node_ptr_->nodeId() << std::endl;
-//}
-
-
-//template<class UpperType, class LowerType>
-//void NodeLinked<UpperType, LowerType>::printLower(unsigned int _ntabs, std::ostream& _ost) const
-//{
-// printTabs(_ntabs);
-// _ost << "\tLower Nodes ==> [ ";
-// for (auto const & down_node_sh_ptr : down_node_list_)
-// {
-// _ost << down_node_sh_ptr->nodeId() << " ";
-// }
-// _ost << "]" << std::endl;
-// _ntabs++;
-// for (auto const & down_node_ptr : down_node_list_)
-// {
-// down_node_ptr->print(_ntabs, _ost);
-// }
-//}
+
#endif /* NODE_LINKED_H_ */
diff --git a/src/wolf_manager.cpp b/src/wolf_manager.cpp
index 650d1934a9c63ddde9f1d9237a8b57d372a62341..0322bc1102b363c6bd456205f39b912792825787 100644
--- a/src/wolf_manager.cpp
+++ b/src/wolf_manager.cpp
@@ -116,7 +116,6 @@ void WolfManager::addCapture(CaptureBase* _capture)
{
new_captures_.push(_capture);
//std::cout << "added new capture: " << _capture->nodeId() << " stamp: ";
- //_capture->getTimeStamp().print();
//std::cout << std::endl;
}
diff --git a/src/wolf_manager_gps.cpp b/src/wolf_manager_gps.cpp
index a7237ccdec34d52b274a73a3950fbd45bff328d4..200c528a343fe955c4e38047cf998314593be271 100644
--- a/src/wolf_manager_gps.cpp
+++ b/src/wolf_manager_gps.cpp
@@ -110,7 +110,6 @@ void WolfManagerGPS::addCapture(CaptureBase* _capture)
{
new_captures_.push(_capture);
//std::cout << "added new capture: " << _capture->nodeId() << " stamp: ";
- //_capture->getTimeStamp().print();
//std::cout << std::endl;
}