From 672d28adf4c7e83ab6e6b0c9c1eab47e151379aa Mon Sep 17 00:00:00 2001 From: Pouya Date: Mon, 16 Nov 2020 08:43:39 +0100 Subject: [PATCH] Replace Error -> Info when necessary This is related to #3. Please check if the changes make sense and merge the request. Particularly not sure about `robot_manipulator_bullet.cpp:380`... --- src/robots/robot_manipulator_bullet.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/robots/robot_manipulator_bullet.cpp b/src/robots/robot_manipulator_bullet.cpp index bc735a4..92667a9 100644 --- a/src/robots/robot_manipulator_bullet.cpp +++ b/src/robots/robot_manipulator_bullet.cpp @@ -359,7 +359,7 @@ bool RobotManipulatorBullet::configure() // Configure Collision int collisionFilterGroup_kuka = 0x10; int collisionFilterMask_kuka = 0x1; - PRELOG(Error, this->tc) << "Setting collision for bullet link " << i << RTT::endlog(); + PRELOG(Info, this->tc) << "Setting collision for bullet link " << i << RTT::endlog(); sim->setCollisionFilterGroupMask(this->robot_id, i, collisionFilterGroup_kuka, collisionFilterMask_kuka); } @@ -377,7 +377,7 @@ bool RobotManipulatorBullet::configure() // Select joints accordingly! for (unsigned int i = 0; i < this->kdl_chain.segments.size(); i++) { - PRELOG(Error, this->tc) << i << " KDL Segmentname " << this->kdl_chain.segments[i].getName() << ", Jointname " << this->kdl_chain.segments[i].getJoint().getName() << RTT::endlog(); + PRELOG(Info, this->tc) << i << " KDL Segmentname " << this->kdl_chain.segments[i].getName() << ", Jointname " << this->kdl_chain.segments[i].getJoint().getName() << RTT::endlog(); // Ignore fixed joints if (this->kdl_chain.segments[i].getJoint().getType() == KDL::Joint::None) { @@ -394,31 +394,31 @@ bool RobotManipulatorBullet::configure() // Candidate Joints with types if (jointInfo.m_jointType == eFixedType) { - PRELOG(Error, this->tc) << "[CANDIDATE] (eFixedType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); + PRELOG(Info, this->tc) << "[CANDIDATE] (eFixedType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); } else if (jointInfo.m_jointType == eRevoluteType) { - PRELOG(Error, this->tc) << "[CANDIDATE] (eRevoluteType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); + PRELOG(Info, this->tc) << "[CANDIDATE] (eRevoluteType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); } else if (jointInfo.m_jointType == ePrismaticType) { - PRELOG(Error, this->tc) << "[CANDIDATE] (ePrismaticType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); + PRELOG(Info, this->tc) << "[CANDIDATE] (ePrismaticType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); } else if (jointInfo.m_jointType == eSphericalType) { - PRELOG(Error, this->tc) << "[CANDIDATE] (eSphericalType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); + PRELOG(Info, this->tc) << "[CANDIDATE] (eSphericalType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); } else if (jointInfo.m_jointType == ePlanarType) { - PRELOG(Error, this->tc) << "[CANDIDATE] (ePlanarType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); + PRELOG(Info, this->tc) << "[CANDIDATE] (ePlanarType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); } else if (jointInfo.m_jointType == ePoint2PointType) { - PRELOG(Error, this->tc) << "[CANDIDATE] (ePoint2PointType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); + PRELOG(Info, this->tc) << "[CANDIDATE] (ePoint2PointType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); } else if (jointInfo.m_jointType == eGearType) { - PRELOG(Error, this->tc) << "[CANDIDATE] (eGearType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); + PRELOG(Info, this->tc) << "[CANDIDATE] (eGearType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); } // Ignore fixed joints if ((jointInfo.m_jointIndex > -1) && (jointInfo.m_jointType != eFixedType)) @@ -426,7 +426,7 @@ bool RobotManipulatorBullet::configure() std::string _bullet_name = jointInfo.m_jointName; if (this->kdl_chain.segments[i].getJoint().getName().compare(_bullet_name) == 0) { - PRELOG(Error, this->tc) << "[KDL+BULLET] Found joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); + PRELOG(Info, this->tc) << "[KDL+BULLET] Found joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog(); map_joint_names_2_indices[jointInfo.m_jointName] = jointInfo.m_jointIndex; vec_joint_indices.push_back(jointInfo.m_jointIndex); _found_bullet_joint_for_kdl_joint = true; @@ -551,7 +551,7 @@ bool RobotManipulatorBullet::configure() this->M[i * this->num_motor_joints + j] = 0.0; } // sim->resetJointState(this->robot_id, this->joint_indices[i], 0.0); - PRELOG(Error, this->tc) << "Resetting joint [" << i << "] = " << this->joint_indices[i] << RTT::endlog(); + PRELOG(Info, this->tc) << "Resetting joint [" << i << "] = " << this->joint_indices[i] << RTT::endlog(); } // Initialize the global control parameters (This could perhaps evolve into a memory leak, if the arrays are not freed when stopped!) @@ -600,4 +600,4 @@ bool RobotManipulatorBullet::setBasePosition(const double &x, const double &y, c { return false; } -} \ No newline at end of file +}