Skip to content

Commit

Permalink
Remove debug output
Browse files Browse the repository at this point in the history
Signed-off-by: Michael X. Grey <[email protected]>
  • Loading branch information
mxgrey committed Oct 5, 2023
1 parent 82117e5 commit 910af56
Showing 1 changed file with 0 additions and 34 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -32,24 +32,6 @@ namespace rmf_traffic {
namespace agv {
namespace planning {

class Printer : public rmf_traffic::agv::Graph::Lane::Executor
{
public:
Printer()
{
// Do nothing
}

void execute(const DoorOpen&) override { std::cout << "event " << __LINE__ << std::endl;; }
void execute(const DoorClose&) override { std::cout << "event " << __LINE__ << std::endl;; }
void execute(const LiftSessionBegin&) override { std::cout << "event " << __LINE__ << std::endl;; }
void execute(const LiftDoorOpen&) override { std::cout << "event " << __LINE__ << std::endl;; }
void execute(const LiftSessionEnd&) override { std::cout << "event " << __LINE__ << std::endl;; }
void execute(const LiftMove&) override { std::cout << "event " << __LINE__ << std::endl;; }
void execute(const Wait&) override { std::cout << "event " << __LINE__ << std::endl;; }
void execute(const Dock& dock) override { std::cout << "event " << __LINE__ << std::endl;; }
};

//==============================================================================
template<typename NodePtr>
std::vector<NodePtr> reconstruct_nodes(const NodePtr& finish_node)
Expand All @@ -63,21 +45,6 @@ std::vector<NodePtr> reconstruct_nodes(const NodePtr& finish_node)
}

std::reverse(node_sequence.begin(), node_sequence.end());
std::cout << " --- node sequence --- " << std::endl;
const auto t0 = node_sequence.front()->time;
for (const NodePtr node : node_sequence)
{
std::cout << " -- LINE:" << node->line << " | t=" << time::to_seconds(node->time - t0) << " ";
if (node->waypoint.has_value())
std::cout << "index " << *node->waypoint << " ";
std::cout << " <" << node->position.transpose() << "> yaw=" << node->yaw << " ";
std::cout << std::endl;
if (node->event)
{
Printer printer;
node->event->execute(printer);
}
}

return node_sequence;
}
Expand Down Expand Up @@ -218,7 +185,6 @@ std::vector<NodePtr> reconstruct_nodes(
const double alpha_nom,
const double rotational_threshold)
{
std::cout << "==================================" << std::endl;
auto node_sequence = reconstruct_nodes(finish_node);

// Remove "cruft" from plans. This means making sure vehicles don't do any
Expand Down

0 comments on commit 910af56

Please sign in to comment.