From e5be817839e7583cf80e6c02845b2302ee2c9ad3 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 5 Jan 2018 15:40:00 +0100
Subject: [PATCH] Update debug output
---
src/steering-method/cross-state-optimization.cc | 15 +++++++++------
1 file changed, 9 insertions(+), 6 deletions(-)
diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc
index 586b85f6..f6aaa4d7 100644
--- a/src/steering-method/cross-state-optimization.cc
+++ b/src/steering-method/cross-state-optimization.cc
@@ -552,10 +552,13 @@ namespace hpp {
while (!maxDepthReached) {
Edges_t transitions = getTransitionList (d, idxSol);
while (! transitions.empty()) {
- std::cout << "Trying solution " << idxSol << ": ";
+#ifdef HPP_DEBUG
+ std::ostringstream ss;
+ ss << "Trying solution " << idxSol << ": ";
for (std::size_t j = 0; j < transitions.size(); ++j)
- std::cout << transitions[j]->name() << ", ";
- std::cout << std::endl;
+ ss << transitions[j]->name() << ", ";
+ hppDout (info, ss.str());
+#endif // HPP_DEBUG
OptimizationData optData (transitions.size() - 1, problem().robot());
optData.q1 = q1;
@@ -564,7 +567,7 @@ namespace hpp {
try {
buildOptimizationProblem (optData, transitions);
} catch (const std::invalid_argument& e) {
- std::cout << e.what() << std::endl;
+ hppDout (info, e.what ());
ok = false;
}
@@ -576,9 +579,9 @@ namespace hpp {
hppDout (warning, "Could not build path from solution "
<< pinocchio::displayConfig(optData.q));
}
- std::cout << "Failed to build" << std::endl;
+ hppDout (info, "Failed to build");
} else {
- std::cout << "Failed to solve" << std::endl;
+ hppDout (info, "Failed to solve");
}
++idxSol;
--
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