From 369934fa80608fa32b74157ecf256611821c0320 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Wed, 21 Mar 2018 14:34:14 +0100
Subject: [PATCH] Improve CM buffer print
---
src/problem.cpp | 15 ++++++---------
1 file changed, 6 insertions(+), 9 deletions(-)
diff --git a/src/problem.cpp b/src/problem.cpp
index 3989d2695..11852deb2 100644
--- a/src/problem.cpp
+++ b/src/problem.cpp
@@ -849,24 +849,21 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
cout << endl;
}
- if (C->isMotion() && metric)
+ if (C->isMotion() )
{
- try
+ CaptureMotionPtr CM = std::dynamic_pointer_cast<CaptureMotion>(C);
+ cout << " buffer size : " << CM->getBuffer().get().size() << endl;
+ if ( metric && ! CM->getBuffer().get().empty())
{
- CaptureMotionPtr CM = std::static_pointer_cast<CaptureMotion>(C);
- cout << " buffer size : " << CM->getBuffer().get().size() << endl;
- if ( CM->getCalibSize() > 0 && ! CM->getBuffer().get().empty())
+ cout << " delta preint : (" << CM->getDeltaPreint().transpose() << ")" << endl;
+ if (CM->hasCalibration())
{
- cout << " delta preint : (" << CM->getDeltaPreint().transpose() << ")" << endl;
cout << " calib preint : (" << CM->getCalibrationPreint().transpose() << ")" << endl;
cout << " jacob preint : (" << CM->getJacobianCalib().row(0) << ")" << endl;
cout << " calib current: (" << CM->getCalibration().transpose() << ")" << endl;
cout << " delta correct: (" << CM->getDeltaCorrected(CM->getCalibration()).transpose() << ")" << endl;
}
}
- catch (std::runtime_error& e)
- {
- }
}
if (depth >= 3)
--
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