From f3489a427eb6a3b110dc25aac75eb7ca14ac85e3 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Wed, 27 May 2020 15:53:05 +0200
Subject: [PATCH] Remove debug code
---
include/core/trajectory/trajectory_base.h | 1 -
src/trajectory/trajectory_base.cpp | 10 +---------
test/gtest_frame_base.cpp | 4 +---
test/gtest_processor_tracker_feature_dummy.cpp | 1 -
test/gtest_trajectory.cpp | 2 +-
5 files changed, 3 insertions(+), 15 deletions(-)
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 4b957d886..489ef839b 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -93,7 +93,6 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
bool state_blocks,
std::ostream& stream = std::cout,
std::string _tabs = "") const;
- void printDebug();
private:
FrameBasePtr addFrame(FrameBasePtr _frame_ptr);
void removeFrame(FrameBasePtr _frame_ptr);
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index 1b1678799..d3a5980e8 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -21,10 +21,7 @@ TrajectoryBase::~TrajectoryBase()
FrameBasePtr TrajectoryBase::addFrame(FrameBasePtr _frame_ptr)
{
// add to list
- std::cout << "Inserting " << _frame_ptr->getTimeStamp() << " " << _frame_ptr << std::endl;
- auto success = frame_list_.insert(std::pair<TimeStamp, FrameBasePtr>(_frame_ptr->getTimeStamp(), _frame_ptr));
- std::cout << "Sucess? " << success.second << std::endl;
- printDebug();
+ frame_list_.insert(std::pair<TimeStamp, FrameBasePtr>(_frame_ptr->getTimeStamp(), _frame_ptr));
return _frame_ptr;
}
@@ -75,9 +72,4 @@ void TrajectoryBase::print(int _depth, bool _constr_by, bool _metric, bool _stat
F->print(_depth, _constr_by, _metric, _state_blocks, _stream, _tabs + " ");
}
-void TrajectoryBase::printDebug()
-{
- for( auto it : frame_list_ )
- WOLF_DEBUG("KEY ", it.first, " VALUE ", it.second);
-}
} // namespace wolf
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 3e5fdd7fd..4845f757c 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -81,7 +81,6 @@ TEST(FrameBase, LinksToTree)
auto f = FeatureBase::emplace<FeatureBase>(C, "f", Vector1d(1), Matrix<double,1,1>::Identity()*.01);
auto c = FactorBase::emplace<FactorOdom2d>(f, f, F2, p, false);
-P->print(4,1,1,1);
//TODO: WARNING! I dropped this comprovations since the emplacing operation is now atomic.
ASSERT_FALSE(F2->getConstrainedByList().empty());
@@ -95,8 +94,7 @@ P->print(4,1,1,1);
ASSERT_FALSE(F1->getCaptureList().empty());
ASSERT_TRUE(F1->getConstrainedByList().empty());
ASSERT_EQ(F1->getHits() , (unsigned int) 0);
-P->print(4,1,1,1);
-WOLF_INFO("F2 id", F2->id());
+
// F2 has no capture and one factor-by
ASSERT_TRUE(F2->getCaptureList().empty());
ASSERT_FALSE(F2->getConstrainedByList().empty());
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index 096dd2554..604cd09b4 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -311,7 +311,6 @@ TEST_F(ProcessorTrackerFeatureDummyTest, process)
//4TH TIME
WOLF_INFO("Forth time...");
CaptureBasePtr cap4 = std::make_shared<CaptureVoid>(3, sensor);
- problem->getTrajectory()->printDebug();
cap4->process();
ASSERT_EQ(processor->getLast()->getFeatureList().size(), params->max_new_features-3);
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index b942c10e7..84895fd68 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -44,7 +44,7 @@ struct DummySolverManager : public SolverManager
};
/// Set to true if you want debug info
-bool debug = true;
+bool debug = false;
TEST(TrajectoryBase, ClosestKeyFrame)
{
--
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