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Remove most debug messages

release/4.3a0
Fan Jiang 2022-05-10 19:22:50 -07:00
parent 4e481ea1e1
commit d012bcd4dc
2 changed files with 9 additions and 6 deletions
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10
gtsam/hybrid/HybridJunctionTree.cpp
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@ -59,12 +59,12 @@ struct HybridConstructorTraversalData {
myData.myJTNode = boost::make_shared<Node>(node->key, node->factors); myData.myJTNode = boost::make_shared<Node>(node->key, node->factors);
parentData.myJTNode->addChild(myData.myJTNode); parentData.myJTNode->addChild(myData.myJTNode);
#ifndef NDEBUG #ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "Getting discrete info: "; std::cout << "Getting discrete info: ";
#endif #endif
for (HybridFactor::shared_ptr& f : node->factors) { for (HybridFactor::shared_ptr& f : node->factors) {
for (auto& k : f->discreteKeys_) { for (auto& k : f->discreteKeys_) {
#ifndef NDEBUG #ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n"; std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
#endif #endif
@ -104,7 +104,7 @@ struct HybridConstructorTraversalData {
boost::tie(myConditional, mySeparatorFactor) = boost::tie(myConditional, mySeparatorFactor) =
internal::EliminateSymbolic(symbolicFactors, keyAsOrdering); internal::EliminateSymbolic(symbolicFactors, keyAsOrdering);
#ifndef NDEBUG #ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "Symbolic: "; std::cout << "Symbolic: ";
myConditional->print(); myConditional->print();
#endif #endif
@ -136,7 +136,7 @@ struct HybridConstructorTraversalData {
myData.discreteKeys.exists(myConditional->frontals()[0]); myData.discreteKeys.exists(myConditional->frontals()[0]);
const bool theirType = const bool theirType =
myData.discreteKeys.exists(childConditionals[i]->frontals()[0]); myData.discreteKeys.exists(childConditionals[i]->frontals()[0]);
#ifndef NDEBUG #ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "Type: " std::cout << "Type: "
<< DefaultKeyFormatter(myConditional->frontals()[0]) << " vs " << DefaultKeyFormatter(myConditional->frontals()[0]) << " vs "
<< DefaultKeyFormatter(childConditionals[i]->frontals()[0]) << DefaultKeyFormatter(childConditionals[i]->frontals()[0])
@ -145,7 +145,7 @@ struct HybridConstructorTraversalData {
if (myType == theirType) { if (myType == theirType) {
// Increment number of frontal variables // Increment number of frontal variables
myNrFrontals += nrFrontals[i]; myNrFrontals += nrFrontals[i];
#ifndef NDEBUG #ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "Merging "; std::cout << "Merging ";
childConditionals[i]->print(); childConditionals[i]->print();
#endif #endif

5
gtsam/hybrid/tests/testHybridConditional.cpp
View File

@ -57,6 +57,7 @@ using gtsam::symbol_shorthand::D;
using gtsam::symbol_shorthand::X; using gtsam::symbol_shorthand::X;
using gtsam::symbol_shorthand::Y; using gtsam::symbol_shorthand::Y;
#ifdef HYBRID_DEBUG
#define BOOST_STACKTRACE_GNU_SOURCE_NOT_REQUIRED #define BOOST_STACKTRACE_GNU_SOURCE_NOT_REQUIRED
#include <signal.h> // ::signal, ::raise #include <signal.h> // ::signal, ::raise
@ -68,6 +69,7 @@ void my_signal_handler(int signum) {
std::cout << boost::stacktrace::stacktrace(); std::cout << boost::stacktrace::stacktrace();
::raise(SIGABRT); ::raise(SIGABRT);
} }
#endif
/* ************************************************************************* */ /* ************************************************************************* */
TEST_DISABLED(HybridFactorGraph, creation) { TEST_DISABLED(HybridFactorGraph, creation) {
@ -594,9 +596,10 @@ TEST_DISABLED(HybridFactorGraph, SwitchingTwoVar) {
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
#ifdef HYBRID_DEBUG
::signal(SIGSEGV, &my_signal_handler); ::signal(SIGSEGV, &my_signal_handler);
::signal(SIGBUS, &my_signal_handler); ::signal(SIGBUS, &my_signal_handler);
#endif
TestResult tr; TestResult tr;
return TestRegistry::runAllTests(tr); return TestRegistry::runAllTests(tr);
} }