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remove debug statements

release/4.3a0
Varun Agrawal 2022-05-27 16:15:53 -04:00
parent 5d3ffb7fe8
commit e2c775302a
1 changed files with 1 additions and 23 deletions
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24
gtsam/hybrid/HybridJunctionTree.cpp
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@ -23,7 +23,6 @@
#include <unordered_map> #include <unordered_map>
// #undef NDEBUG
namespace gtsam { namespace gtsam {
// Instantiate base classes // Instantiate base classes
@ -59,15 +58,8 @@ 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);
#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "Getting discrete info: ";
#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()) {
#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "DK: " << DefaultKeyFormatter(k.first) << "\n";
#endif
myData.discreteKeys.insert(k.first); myData.discreteKeys.insert(k.first);
} }
} }
@ -104,11 +96,6 @@ struct HybridConstructorTraversalData {
boost::tie(myConditional, mySeparatorFactor) = boost::tie(myConditional, mySeparatorFactor) =
internal::EliminateSymbolic(symbolicFactors, keyAsOrdering); internal::EliminateSymbolic(symbolicFactors, keyAsOrdering);
#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "Symbolic: ";
myConditional->print();
#endif
// Store symbolic elimination results in the parent // Store symbolic elimination results in the parent
myData.parentData->childSymbolicConditionals.push_back(myConditional); myData.parentData->childSymbolicConditionals.push_back(myConditional);
myData.parentData->childSymbolicFactors.push_back(mySeparatorFactor); myData.parentData->childSymbolicFactors.push_back(mySeparatorFactor);
@ -136,19 +123,10 @@ 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]);
#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "Type: "
<< DefaultKeyFormatter(myConditional->frontals()[0]) << " vs "
<< DefaultKeyFormatter(childConditionals[i]->frontals()[0])
<< "\n";
#endif
if (myType == theirType) { if (myType == theirType) {
// Increment number of frontal variables // Increment number of frontal variables
myNrFrontals += nrFrontals[i]; myNrFrontals += nrFrontals[i];
#ifdef GTSAM_HYBRID_JUNCTIONTREE_DEBUG
std::cout << "Merging ";
childConditionals[i]->print();
#endif
merge[i] = true; merge[i] = true;
} }
} }