chore(motion_velocity_smoother): remove string stream creation (autow…

…arefoundation#7131) * chore(motion_velocity_smoother): remove string stream creation Signed-off-by: Fumiya Watanabe <[email protected]> * fix: use format string Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]>
Interplai · Jun 3, 2024 · f6156df · f6156df
1 parent e0ac3ac
commit f6156df
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/...ty_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp b/...ty_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
@@ -199,13 +199,12 @@ bool calcStopVelocityWithConstantJerkAccLimit(
   }
 
   // for debug
-  std::stringstream ss;
+  RCLCPP_DEBUG(rclcpp::get_logger("velocity_planning_utils"), "Calculate stop velocity.");
   for (unsigned int i = 0; i < ts.size(); ++i) {
-    ss << "t: " << ts.at(i) << ", x: " << xs.at(i) << ", v: " << vs.at(i) << ", a: " << as.at(i)
-       << ", j: " << js.at(i) << std::endl;
+    RCLCPP_DEBUG(
+      rclcpp::get_logger("velocity_planning_utils"), "--- t: %f, x: %f, v: %f, a: %f, j: %f",
+      ts.at(i), xs.at(i), vs.at(i), as.at(i), js.at(i));
   }
-  RCLCPP_DEBUG(
-    rclcpp::get_logger("velocity_planning_utils"), "Calculate stop velocity. %s", ss.str().c_str());
 
   const double a_target = 0.0;
   const double v_margin = 0.3;