From 5df53d60c67809919e3ec7e14b7097a10adfc1a1 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 10 Jan 2018 14:02:51 +0100
Subject: [PATCH] Add debug output
---
src/path-optimization/spline-gradient-based.cc | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/path-optimization/spline-gradient-based.cc b/src/path-optimization/spline-gradient-based.cc
index afb685a..288e959 100644
--- a/src/path-optimization/spline-gradient-based.cc
+++ b/src/path-optimization/spline-gradient-based.cc
@@ -181,6 +181,8 @@ namespace hpp {
value_type guessThreshold = this->problem().getParameter ("SplineGradientBased/guessThreshold", value_type(-1));
Eigen::RowBlockIndices select =
this->computeActiveParameters (path, set->configProjector()->solver(), guessThreshold, true);
+ hppDout (info, "End of path " << idxSpline << ": do not change this dof " << select);
+ hppDout (info, "End of path " << idxSpline << ": state " << state->name());
const size_type rDof = this->robot_->numberDof(),
col = idxSpline * Spline::NbCoeffs * rDof,
--
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