From 16a2598c12a523c52b6c43c0fb460ec353ebbbae Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 13 Sep 2024 17:35:49 +0900 Subject: [PATCH] perf(motion_velocity_smoother): remove some heavy debug logging (#8798) remove some heavy logging in the velocity smoother Signed-off-by: Maxime CLEMENT --- .../velocity_planning_utils.cpp | 9 --------- 1 file changed, 9 deletions(-) diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp index 9d474a9a52bfa..6e12d4a6f20fb 100644 --- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp +++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp @@ -249,15 +249,6 @@ bool calcStopVelocityWithConstantJerkAccLimit( const auto acc_at_wp = interpolation::lerp(xs, as, distances); const auto jerk_at_wp = interpolation::lerp(xs, js, distances); - // for debug - std::stringstream ssi; - for (unsigned int i = 0; i < distances.size(); ++i) { - ssi << "d: " << distances.at(i) << ", v: " << vel_at_wp.at(i) << ", a: " << acc_at_wp.at(i) - << ", j: " << jerk_at_wp.at(i) << std::endl; - } - RCLCPP_DEBUG( - rclcpp::get_logger("velocity_planning_utils"), "Interpolated = %s", ssi.str().c_str()); - for (size_t i = 0; i < vel_at_wp.size(); ++i) { output_trajectory.at(start_index + i).longitudinal_velocity_mps = vel_at_wp.at(i); output_trajectory.at(start_index + i).acceleration_mps2 = acc_at_wp.at(i);