From 24c0aa7388609920c22620e854e3ce9026656ab9 Mon Sep 17 00:00:00 2001 From: Florent Lamiraux Date: Tue, 19 Jun 2018 14:32:09 +0200 Subject: [PATCH 1/4] [shared-tests] Synchronize submodule. --- tests/shared-tests | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/shared-tests b/tests/shared-tests index 4964744..bc512d2 160000 --- a/tests/shared-tests +++ b/tests/shared-tests @@ -1 +1 @@ -Subproject commit 4964744125a040707e080ebaef34a80d1beed0db +Subproject commit bc512d24ceccfd43f0834016e97a6bf6972ae734 From 88d3fe73a1a369a14de54579affaa45d0fbbec3d Mon Sep 17 00:00:00 2001 From: Florent Lamiraux Date: Tue, 19 Jun 2018 14:45:41 +0200 Subject: [PATCH 2/4] Remove remaining references to log4cxx. --- include/roboptim/trajectory/b-spline.hh | 11 ----------- include/roboptim/trajectory/b-spline.hxx | 4 ---- 2 files changed, 15 deletions(-) diff --git a/include/roboptim/trajectory/b-spline.hh b/include/roboptim/trajectory/b-spline.hh index e9faa56..dd0fda7 100644 --- a/include/roboptim/trajectory/b-spline.hh +++ b/include/roboptim/trajectory/b-spline.hh @@ -258,19 +258,8 @@ namespace trajectory /// \brief Whether the B-spline is uniform. /// Note: used for faster interval lookup. bool uniform_; - - protected: - /// \brief Pointer to B-spline logger (see log4cxx documentation). - static log4cxx::LoggerPtr logger; }; - /// \brief LOG4CXX logger for B-splines. - /// \tparam N order of the B-Spline. - /// \return logger. - template - log4cxx::LoggerPtr BSpline::logger - (log4cxx::Logger::getLogger ("roboptim.trajectory")); - /// @} } // end of namespace trajectory. diff --git a/include/roboptim/trajectory/b-spline.hxx b/include/roboptim/trajectory/b-spline.hxx index 6d94f2a..a533fcb 100644 --- a/include/roboptim/trajectory/b-spline.hxx +++ b/include/roboptim/trajectory/b-spline.hxx @@ -381,10 +381,6 @@ namespace trajectory for (cox_map_itr_t itr = map.begin(); itr != map.end(); itr++) { - LOG4CXX_DEBUG (this->logger, - "B_" << j << "_" - << itr->first << " : " << itr->second); - basisPolynomials_.back ().push_back (itr->second); } } From 9d0c5c1ea325a66e8e5c524f1fafeb6f9a151c7b Mon Sep 17 00:00:00 2001 From: Florent Lamiraux Date: Mon, 23 Jul 2018 07:58:52 +0200 Subject: [PATCH 3/4] Finalize removal of liblog4cxx dependency --- include/roboptim/trajectory/b-spline.hxx | 47 ------------------------ 1 file changed, 47 deletions(-) diff --git a/include/roboptim/trajectory/b-spline.hxx b/include/roboptim/trajectory/b-spline.hxx index a533fcb..84ff8bc 100644 --- a/include/roboptim/trajectory/b-spline.hxx +++ b/include/roboptim/trajectory/b-spline.hxx @@ -221,9 +221,6 @@ namespace trajectory typename BSpline::cox_map BSpline::cox_de_boor (size_type j, size_type n) const { - ROBOPTIM_DEBUG_ONLY(std::stringstream label; - label << "[j=" << j << "/n=" << n << "]"); - if (n == 0) //end of recursion { cox_map map; @@ -233,10 +230,6 @@ namespace trajectory ROBOPTIM_DEBUG_ONLY (std::pair ptr =) map.insert (std::make_pair (j, polynomial_t (0., temp_params))); - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() << "return(end) : " - << ptr.first->second)); - return map; } else @@ -253,53 +246,24 @@ namespace trajectory polynomial_t p_1_rat; if (tn > t0) p_1_rat = 1. / (tn - t0) * monomial_t (t0); - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() << "p_1_rat : " - << p_1_rat)); - cox_map p_1_cox = cox_de_boor (j, n - 1); cox_map p_1; for (cox_map_itr_t itr = p_1_cox.begin (); itr != p_1_cox.end(); itr++) { - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() - << "p_1_cox : " - << itr->first - << " : " << itr->second)); - polynomial_t p_prod = itr->second * p_1_rat; - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() << "p_prod (1) : " - << p_prod)); p_1.insert (std::make_pair (itr->first, p_prod)); } polynomial_t p_2_rat; if (tn1 > t1) p_2_rat = 1. / (t1 - tn1) * monomial_t (tn1); - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() << "p_2_rat : " - << p_2_rat)); - cox_map p_2_cox = cox_de_boor (j + 1, n - 1); cox_map p_2; for (cox_map_itr_t itr = p_2_cox.begin(); itr != p_2_cox.end(); itr++) { - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() - << "p_2_cox : " - << itr->first - << " : " << itr->second)); - polynomial_t p_prod = itr->second * p_2_rat; - - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() - << "p_prod (2) : " - << p_prod)); - p_2.insert (std::make_pair (itr->first, p_prod)); } @@ -314,17 +278,6 @@ namespace trajectory p.insert (std::make_pair (itr->first, itr->second)); } - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() - << "result of recursion branch")); - - for (cox_map_itr_t itr = p.begin(); itr != p.end(); itr++) - { - ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger, - label.str() << "B_" << j - << "_" << itr->first << " : " - << itr->second)); - } return p; } } From bb811129e51dc7eff6cbf4fa1af43e8eb8edc124 Mon Sep 17 00:00:00 2001 From: Florent Lamiraux Date: Mon, 23 Jul 2018 08:37:20 +0200 Subject: [PATCH 4/4] Fix compilation warning. --- include/roboptim/trajectory/b-spline.hxx | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/include/roboptim/trajectory/b-spline.hxx b/include/roboptim/trajectory/b-spline.hxx index 84ff8bc..e7ed39e 100644 --- a/include/roboptim/trajectory/b-spline.hxx +++ b/include/roboptim/trajectory/b-spline.hxx @@ -227,8 +227,7 @@ namespace trajectory typename polynomial_t::coefs_t temp_params; temp_params.setZero(); temp_params[0] = 1.; - ROBOPTIM_DEBUG_ONLY (std::pair ptr =) - map.insert (std::make_pair (j, polynomial_t (0., temp_params))); + map.insert (std::make_pair (j, polynomial_t (0., temp_params))); return map; }