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Removed debug printing

release/4.3a0
dellaert 2014-10-05 15:01:36 +02:00
parent fdf9c10b42
commit 2718662467
1 changed files with 0 additions and 13 deletions
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13
gtsam_unstable/nonlinear/Expression-inl.h
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@ -21,7 +21,6 @@
#include <gtsam/nonlinear/Values.h> #include <gtsam/nonlinear/Values.h>
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
#include <gtsam/base/Testable.h>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
namespace gtsam { namespace gtsam {
@ -232,8 +231,6 @@ public:
virtual boost::shared_ptr<BaseTrace> reverse(const Values& values) const { virtual boost::shared_ptr<BaseTrace> reverse(const Values& values) const {
boost::shared_ptr<Trace> trace = boost::make_shared<Trace>(); boost::shared_ptr<Trace> trace = boost::make_shared<Trace>();
trace->t = constant_; trace->t = constant_;
std::cout << "constant\n:";
GTSAM_PRINT(trace->t);
return trace; return trace;
} }
}; };
@ -284,7 +281,6 @@ public:
/// Return value and derivatives /// Return value and derivatives
virtual Augmented<T> augmented(const Matrix& H) const { virtual Augmented<T> augmented(const Matrix& H) const {
// Base case: just insert H in the JacobianMap with correct key // Base case: just insert H in the JacobianMap with correct key
std::cout << "Inserting Jacobian " << DefaultKeyFormatter(key) << "\n";
return Augmented<T>(this->t, key, H); return Augmented<T>(this->t, key, H);
} }
}; };
@ -294,8 +290,6 @@ public:
boost::shared_ptr<Trace> trace = boost::make_shared<Trace>(); boost::shared_ptr<Trace> trace = boost::make_shared<Trace>();
trace->t = value(values); trace->t = value(values);
trace->key = key_; trace->key = key_;
std::cout << "Leaf(" << DefaultKeyFormatter(key_) << "):\n";
GTSAM_PRINT(trace->t);
return trace; return trace;
} }
@ -367,10 +361,7 @@ public:
virtual boost::shared_ptr<BaseTrace> reverse(const Values& values) const { virtual boost::shared_ptr<BaseTrace> reverse(const Values& values) const {
boost::shared_ptr<Trace> trace = boost::make_shared<Trace>(); boost::shared_ptr<Trace> trace = boost::make_shared<Trace>();
trace->trace1 = this->expressionA_->reverse(values); trace->trace1 = this->expressionA_->reverse(values);
std::cout << "Unary:\n";
GTSAM_PRINT(trace->trace1->value());
trace->t = function_(trace->trace1->value(), trace->H1); trace->t = function_(trace->trace1->value(), trace->H1);
GTSAM_PRINT(trace->t);
return trace; return trace;
} }
}; };
@ -458,12 +449,8 @@ public:
boost::shared_ptr<Trace> trace = boost::make_shared<Trace>(); boost::shared_ptr<Trace> trace = boost::make_shared<Trace>();
trace->trace1 = this->expressionA1_->reverse(values); trace->trace1 = this->expressionA1_->reverse(values);
trace->trace2 = this->expressionA2_->reverse(values); trace->trace2 = this->expressionA2_->reverse(values);
std::cout << "Binary:\n";
GTSAM_PRINT(trace->trace1->value());
GTSAM_PRINT(trace->trace2->value());
trace->t = function_(trace->trace1->value(), trace->trace2->value(), trace->t = function_(trace->trace1->value(), trace->trace2->value(),
trace->H1, trace->H2); trace->H1, trace->H2);
GTSAM_PRINT(trace->t);
return trace; return trace;
} }