From 42fb4c147b863f5d72e6a3c0e91f64ba3d4ec038 Mon Sep 17 00:00:00 2001 From: v4hn Date: Thu, 2 Mar 2017 17:41:28 +0100 Subject: [PATCH] gengrasppose: produce better output --- src/subtasks/generate_grasp_pose.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/subtasks/generate_grasp_pose.cpp b/src/subtasks/generate_grasp_pose.cpp index 67b3ff6a..d9bea388 100644 --- a/src/subtasks/generate_grasp_pose.cpp +++ b/src/subtasks/generate_grasp_pose.cpp @@ -111,6 +111,7 @@ moveit::task_constructor::subtasks::GenerateGraspPose::compute(){ while(current_angle_ < 2*M_PI){ if( remaining_time_ <= 0.0 ){ + std::cout << "computed " << current_angle_ << " with " << previous_solutions_.size() << " cached ik solutions" << std::endl; current_angle_+= angle_delta_; remaining_time_= timeout_; tried_current_state_as_seed_= false; @@ -119,7 +120,6 @@ moveit::task_constructor::subtasks::GenerateGraspPose::compute(){ } pose.orientation= tf::createQuaternionMsgFromRollPitchYaw(M_PI, 0.0, current_angle_); - std::cout << "trying " << current_angle_ << " with remaining time " << remaining_time_ << std::endl; if(tried_current_state_as_seed_) grasp_state.setToRandomPositions(jmg);