Commit e2ea5f34 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

fix debug message

parent c9fab723
......@@ -711,6 +711,7 @@ namespace hpp {
try
{
// /hpp::pinocchio::Configuration_t c = rbprm::interpolation::projectOnCom(fullBody(), problemSolver()->problem(),s,com_target,succes);
hppDout(notice,"ProjectStateToComEigen, init config in state : "<<pinocchio::displayConfig(s.configuration_));
rbprm::projection::ProjectionReport rep = rbprm::projection::projectToComPosition(fullBody(),com_target,s);
hpp::pinocchio::Configuration_t& c = rep.result_.configuration_;
ValidationReportPtr_t rport (ValidationReportPtr_t(new CollisionValidationReport));
......@@ -3171,7 +3172,7 @@ assert(s2 == s1 +1);
for(T_Limb::const_iterator lit = fullBody()->GetLimbs().begin() ; lit != fullBody()->GetLimbs().end() ; ++lit){
sampling::Sample sample(lit->second->limb_, lit->second->effector_, config, lit->second->offset_,lit->second->limbOffset_, 0);
(*dofArray)[(_CORBA_ULong)id] = lit->second->evaluate_(sample,dir,lit->second->normal_,sampling::HeuristicParam());
hppDout(notice,"Evaluate for limb : "<<lit->second->effector_->name()<<" = "<<(*dofArray)[(_CORBA_ULong)id]);
hppDout(notice,"Evaluate for limb : "<<lit->second->effector_.name()<<" = "<<(*dofArray)[(_CORBA_ULong)id]);
hppDout(notice,"eff position = "<<sample.effectorPosition_);
hppDout(notice,"limb frame = "<<sample.effectorPositionInLimbFrame_);
hppDout(notice,"direction = "<<dir);
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment