Remove debug code

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);

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

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());

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);

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)
 {