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Added verbosity selector for the SQP demo to remove printouts every time it runs

release/4.3a0
Alex Cunningham 2009-11-20 14:29:11 +00:00
parent 715dc4474d
commit 08f5b074a0
1 changed files with 5 additions and 4 deletions
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9
cpp/testSQP.cpp
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@ -338,6 +338,7 @@ Matrix grad_g2(const VectorConfig& config, const std::string& key) {
* should be the same. * should be the same.
*/ */
TEST (SQP, two_pose ) { TEST (SQP, two_pose ) {
bool verbose = false;
// position (1, 1) constraint for x1 // position (1, 1) constraint for x1
VectorConfig feas; VectorConfig feas;
feas.insert("x1", Vector_(2, 1.0, 1.0)); feas.insert("x1", Vector_(2, 1.0, 1.0));
@ -404,7 +405,7 @@ TEST (SQP, two_pose ) {
fg.push_back(c); fg.push_back(c);
} }
} }
fg.print("Linearized graph"); if (verbose) fg.print("Linearized graph");
// create an ordering // create an ordering
Ordering ordering; Ordering ordering;
@ -412,13 +413,13 @@ TEST (SQP, two_pose ) {
// optimize linear graph to get full delta config // optimize linear graph to get full delta config
VectorConfig delta = fg.optimize(ordering).scale(-1.0); VectorConfig delta = fg.optimize(ordering).scale(-1.0);
delta.print("Delta Config"); if (verbose) delta.print("Delta Config");
// update both state variables // update both state variables
state = state.exmap(delta); state = state.exmap(delta);
state.print("newState"); if (verbose) state.print("newState");
state_lam = state_lam.exmap(delta); state_lam = state_lam.exmap(delta);
state_lam.print("newStateLam"); if (verbose) state_lam.print("newStateLam");
} }
// verify // verify