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perf: intersection remove debug verbose #1172

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merged 1 commit into from
Jun 27, 2022
Merged

perf: intersection remove debug verbose #1172

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7 changes: 5 additions & 2 deletions planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -405,6 +405,9 @@ bool getObjectiveLanelets(
*objective_lanelets_result = objective_lanelets_sequences;
*objective_lanelets_with_margin_result = objective_lanelets_with_margin;

// set this flag true when debugging
const bool is_debug = false;
if (!is_debug) return true;
std::stringstream ss_c, ss_y, ss_e, ss_o, ss_os;
for (const auto & l : conflicting_lanelets) {
ss_c << l.id() << ", ";
Expand All @@ -423,10 +426,10 @@ bool getObjectiveLanelets(
ss_os << ll.id() << ", ";
}
}
RCLCPP_DEBUG(
RCLCPP_INFO(
logger, "getObjectiveLanelets() conflict = %s yield = %s ego = %s", ss_c.str().c_str(),
ss_y.str().c_str(), ss_e.str().c_str());
RCLCPP_DEBUG(
RCLCPP_INFO(
logger, "getObjectiveLanelets() object = %s object_sequences = %s", ss_o.str().c_str(),
ss_os.str().c_str());
return true;
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