From c92185ae76acbe22a505efaf83533c6377a7f5a6 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Fri, 31 May 2024 16:00:16 +0900 Subject: [PATCH] chore(motion_velocity_smoother): remove string stream creation (#7131) * chore(motion_velocity_smoother): remove string stream creation Signed-off-by: Fumiya Watanabe * fix: use format string Signed-off-by: Fumiya Watanabe --------- Signed-off-by: Fumiya Watanabe --- .../velocity_planning_utils.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/planning/motion_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp b/planning/motion_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp index 2bcb31ff10969..9fa4d697f06cb 100644 --- a/planning/motion_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp +++ b/planning/motion_velocity_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;