From f1fa66e9c1485e98c45b2e6ce62244c15918cb66 Mon Sep 17 00:00:00 2001
From: Frank <frank@skyd.io>
Date: Tue, 22 Dec 2015 11:39:20 -0800
Subject: [PATCH] Removed debug code

---
 gtsam/navigation/tests/testScenarioRunner.cpp | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp
index 30d7fbd14..e7502778e 100644
--- a/gtsam/navigation/tests/testScenarioRunner.cpp
+++ b/gtsam/navigation/tests/testScenarioRunner.cpp
@@ -48,19 +48,9 @@ class ScenarioRunner {
     const double deltaT = scenario_.imuSampleTime();
     const size_t nrSteps = T / deltaT;
     double t = 0;
-    Vector3 v0 = scenario_.velocity(0);
-    Vector3 v = Vector3::Zero();
-    Vector3 p = Vector3::Zero();
     for (size_t k = 0; k < nrSteps; k++, t += deltaT) {
-      std::cout << t << ", " << deltaT << ": ";
-      p += deltaT * v;
-      v += deltaT * scenario_.acceleration(t);
       const Vector3 measuredAcc = scenario_.accelerationInBody(t);
       result.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-      std::cout << " P:" << result.deltaPij().transpose();
-      std::cout << " p:" << p.transpose();
-      std::cout << " p0:" << (p + v0 * t).transpose();
-      std::cout << std::endl;
     }
 
     return result;