From e2c775302aa8d6f364d1a9f72b012c133cb197bd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 27 May 2022 16:15:53 -0400
Subject: [PATCH] remove debug statements

---
 gtsam/hybrid/HybridJunctionTree.cpp | 24 +-----------------------
 1 file changed, 1 insertion(+), 23 deletions(-)

diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index d1e19f852..981cd6f32 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -23,7 +23,6 @@
 
 #include <unordered_map>
 
-// #undef NDEBUG
 namespace gtsam {
 
 // Instantiate base classes
@@ -59,15 +58,8 @@ struct HybridConstructorTraversalData {
     myData.myJTNode = boost::make_shared<Node>(node->key, node->factors);
     parentData.myJTNode->addChild(myData.myJTNode);
 
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-    std::cout << "Getting discrete info: ";
-#endif
     for (HybridFactor::shared_ptr& f : node->factors) {
       for (auto& k : f->discreteKeys()) {
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-        std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
-#endif
-
         myData.discreteKeys.insert(k.first);
       }
     }
@@ -104,11 +96,6 @@ struct HybridConstructorTraversalData {
     boost::tie(myConditional, mySeparatorFactor) =
         internal::EliminateSymbolic(symbolicFactors, keyAsOrdering);
 
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-    std::cout << "Symbolic: ";
-    myConditional->print();
-#endif
-
     // Store symbolic elimination results in the parent
     myData.parentData->childSymbolicConditionals.push_back(myConditional);
     myData.parentData->childSymbolicFactors.push_back(mySeparatorFactor);
@@ -136,19 +123,10 @@ struct HybridConstructorTraversalData {
             myData.discreteKeys.exists(myConditional->frontals()[0]);
         const bool theirType =
             myData.discreteKeys.exists(childConditionals[i]->frontals()[0]);
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-        std::cout << "Type: "
-                  << DefaultKeyFormatter(myConditional->frontals()[0]) << " vs "
-                  << DefaultKeyFormatter(childConditionals[i]->frontals()[0])
-                  << "\n";
-#endif
+
         if (myType == theirType) {
           // Increment number of frontal variables
           myNrFrontals += nrFrontals[i];
-#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
-          std::cout << "Merging ";
-          childConditionals[i]->print();
-#endif
           merge[i] = true;
         }
       }