From 910af569a44d907a9dbde230e59ac1b09f7889b4 Mon Sep 17 00:00:00 2001 From: "Michael X. Grey" Date: Thu, 5 Oct 2023 07:26:25 +0000 Subject: [PATCH] Remove debug output Signed-off-by: Michael X. Grey --- .../agv/planning/DifferentialDrivePlanner.cpp | 34 ------------------- 1 file changed, 34 deletions(-) diff --git a/rmf_traffic/src/rmf_traffic/agv/planning/DifferentialDrivePlanner.cpp b/rmf_traffic/src/rmf_traffic/agv/planning/DifferentialDrivePlanner.cpp index 8c533bf6..1b8eeee3 100644 --- a/rmf_traffic/src/rmf_traffic/agv/planning/DifferentialDrivePlanner.cpp +++ b/rmf_traffic/src/rmf_traffic/agv/planning/DifferentialDrivePlanner.cpp @@ -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 std::vector reconstruct_nodes(const NodePtr& finish_node) @@ -63,21 +45,6 @@ std::vector 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; } @@ -218,7 +185,6 @@ std::vector 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