From a7e13962b5448ac32315af02c771ad46a142dd2d Mon Sep 17 00:00:00 2001 From: Alexander Winkler Date: Mon, 12 Sep 2016 08:46:18 +0200 Subject: [PATCH] removed print outs in controller --- config/ipopt.opt | 2 +- src/nlp_optimizer_node.cc | 2 +- src/walking_controller.cc | 8 ++++---- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/config/ipopt.opt b/config/ipopt.opt index fe9fd10e4..9053ca9ce 100644 --- a/config/ipopt.opt +++ b/config/ipopt.opt @@ -24,7 +24,7 @@ tol 1e-2 #dual_inf_tol 1e-1 #constr_viol_tol 1e-4 #compl_inf_tol 1e-4 -max_cpu_time 5.5 #careful: overwrites ros parameter, but controller doesn't know +max_cpu_time 2.5 #careful: overwrites ros parameter, but controller doesn't know #max_iter 1 #bound_frac 0.5 diff --git a/src/nlp_optimizer_node.cc b/src/nlp_optimizer_node.cc index 2e5ac34ac..a3002f909 100644 --- a/src/nlp_optimizer_node.cc +++ b/src/nlp_optimizer_node.cc @@ -44,7 +44,7 @@ NlpOptimizerNode::UpdateCurrentState(const ReqInfoMsg& msg) curr_cog_ = RosHelpers::RosToXpp(msg.curr_state); curr_stance_ = RosHelpers::RosToXpp(msg.curr_stance); curr_swingleg_ = msg.curr_swingleg; - ROS_INFO_STREAM("Updated Current State: " << curr_cog_); +// ROS_INFO_STREAM("Updated Current State: " << curr_cog_); optimization_visualizer_.VisualizeCurrentState(curr_cog_.Get2D(), curr_stance_); } diff --git a/src/walking_controller.cc b/src/walking_controller.cc index ef543a05f..1c6929a03 100644 --- a/src/walking_controller.cc +++ b/src/walking_controller.cc @@ -237,7 +237,7 @@ void WalkingController::ExecuteLoop() { using namespace xpp::utils; using namespace xpp::zmp; - ROS_INFO_STREAM_THROTTLE(robot_->GetControlLoopInterval(), "time: " << Time()); +// ROS_INFO_STREAM_THROTTLE(robot_->GetControlLoopInterval(), "time: " << Time()); /** 1. motion plan generation */ /** CURRENT state of robot through joint encoder readings and state estimation **/ @@ -246,14 +246,14 @@ void WalkingController::ExecuteLoop() P_curr_.swingleg_ = P_des_.swingleg_; EstimateCurrPose(); // through sensors and state estimation - std::cout << "P_curr: " << P_curr_.base_.pos << "\n"; +// std::cout << "P_curr: " << P_curr_.base_.pos << "\n"; jsim_.update(q); /** @brief DESIRED state given by splined plan and zmp optimizer **/ P_des_.base_.pos = spliner_.GetCurrPosition(Time()); P_des_.base_.ori = spliner_.GetCurrOrientation(Time()); - std::cout << "P_des: " << P_des_.base_.pos << "\n"; +// std::cout << "P_des: " << P_des_.base_.pos << "\n"; spliner_.FillCurrFeet(Time(), P_des_.feet_, P_des_.swingleg_); // logging log_base_acc_des_ff.segment<3>(LX) = P_des_.base_.pos.a; // logging only @@ -398,7 +398,7 @@ void WalkingController::EstimateCurrPose() } // logging - ROS_DEBUG_STREAM_THROTTLE(robot_->GetControlLoopInterval(), "time: " << Time() << "\nP_curr_:\n" << P_curr_); +// ROS_DEBUG_STREAM_THROTTLE(robot_->GetControlLoopInterval(), "time: " << Time() << "\nP_curr_:\n" << P_curr_); } Eigen::Vector3d