From 5cd4c8fd43b29797d1942b154ddbca2068ad8a13 Mon Sep 17 00:00:00 2001
From: Francois Keith <francois.keith@inrialpes.fr>
Date: Tue, 30 Aug 2011 11:33:41 +0200
Subject: [PATCH] Remove debug traces et restore the use of QLD by default.
---
.../ZMPVelocityReferencedQP.cpp | 25 +++----------------
1 file changed, 3 insertions(+), 22 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index 44301158..9b12ffe8 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -408,8 +408,9 @@ ZMPVelocityReferencedQP::OnLine(double Time,
// SOLVE PROBLEM:
// --------------
solution_t Result;
-
- Problem_.solve( QPProblem_s::LSSOL, Result, QPProblem_s::ALL );
+
+// Problem_.solve( QPProblem_s::LSSOL, Result, QPProblem_s::ALL );
+ Problem_.solve( QPProblem_s::QLD, Result, QPProblem_s::ALL );
Problem_.reset();
@@ -450,26 +451,6 @@ ZMPVelocityReferencedQP::OnLine(double Time,
CurrentCPUTime = end.tv_sec - start.tv_sec +
0.000001 * (end.tv_usec - start.tv_usec);
TotalAmountOfCPUTime += CurrentCPUTime;
-
- static int k=0;
- static double tab[100000];
- static int nb=0;
- tab[nb]=CurrentCPUTime;
- ++nb;
- if (CurrentCPUTime>0.002){
- std::cout << "peak : " << CurrentCPUTime*1000 << " ms" << std::endl;
- }
- if (++k%10==0){
- double moy=0;
- for(int i=k-20;i<k;++i){
- if (i>=0){
- moy+=tab[i];
- }
- }
- moy/=20;
- std::cout << "mean period : " << moy*1000 << " ms" << std::endl;
- }
-
}
}
--
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