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Replace Error -> Info when necessary
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This is related to #3. Please check if the changes make sense and merge the request. Particularly not sure about `robot_manipulator_bullet.cpp:380`...
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@Pouya-moh
Pouya-moh authored Nov 16, 2020
1 parent 66f787d commit 672d28a
Showing 1 changed file with 12 additions and 12 deletions.
24 changes: 12 additions & 12 deletions src/robots/robot_manipulator_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -359,7 +359,7 @@ bool RobotManipulatorBullet::configure()
// Configure Collision
int collisionFilterGroup_kuka = 0x10;
int collisionFilterMask_kuka = 0x1;
PRELOG(Error, this->tc) << "Setting collision for bullet link " << i << RTT::endlog();
PRELOG(Info, this->tc) << "Setting collision for bullet link " << i << RTT::endlog();
sim->setCollisionFilterGroupMask(this->robot_id, i, collisionFilterGroup_kuka, collisionFilterMask_kuka);
}

Expand All @@ -377,7 +377,7 @@ bool RobotManipulatorBullet::configure()
// Select joints accordingly!
for (unsigned int i = 0; i < this->kdl_chain.segments.size(); i++)
{
PRELOG(Error, this->tc) << i << " KDL Segmentname " << this->kdl_chain.segments[i].getName() << ", Jointname " << this->kdl_chain.segments[i].getJoint().getName() << RTT::endlog();
PRELOG(Info, this->tc) << i << " KDL Segmentname " << this->kdl_chain.segments[i].getName() << ", Jointname " << this->kdl_chain.segments[i].getJoint().getName() << RTT::endlog();
// Ignore fixed joints
if (this->kdl_chain.segments[i].getJoint().getType() == KDL::Joint::None)
{
Expand All @@ -394,39 +394,39 @@ bool RobotManipulatorBullet::configure()
// Candidate Joints with types
if (jointInfo.m_jointType == eFixedType)
{
PRELOG(Error, this->tc) << "[CANDIDATE] (eFixedType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
PRELOG(Info, this->tc) << "[CANDIDATE] (eFixedType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
}
else if (jointInfo.m_jointType == eRevoluteType)
{
PRELOG(Error, this->tc) << "[CANDIDATE] (eRevoluteType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
PRELOG(Info, this->tc) << "[CANDIDATE] (eRevoluteType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
}
else if (jointInfo.m_jointType == ePrismaticType)
{
PRELOG(Error, this->tc) << "[CANDIDATE] (ePrismaticType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
PRELOG(Info, this->tc) << "[CANDIDATE] (ePrismaticType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
}
else if (jointInfo.m_jointType == eSphericalType)
{
PRELOG(Error, this->tc) << "[CANDIDATE] (eSphericalType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
PRELOG(Info, this->tc) << "[CANDIDATE] (eSphericalType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
}
else if (jointInfo.m_jointType == ePlanarType)
{
PRELOG(Error, this->tc) << "[CANDIDATE] (ePlanarType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
PRELOG(Info, this->tc) << "[CANDIDATE] (ePlanarType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
}
else if (jointInfo.m_jointType == ePoint2PointType)
{
PRELOG(Error, this->tc) << "[CANDIDATE] (ePoint2PointType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
PRELOG(Info, this->tc) << "[CANDIDATE] (ePoint2PointType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
}
else if (jointInfo.m_jointType == eGearType)
{
PRELOG(Error, this->tc) << "[CANDIDATE] (eGearType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
PRELOG(Info, this->tc) << "[CANDIDATE] (eGearType) joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
}
// Ignore fixed joints
if ((jointInfo.m_jointIndex > -1) && (jointInfo.m_jointType != eFixedType))
{
std::string _bullet_name = jointInfo.m_jointName;
if (this->kdl_chain.segments[i].getJoint().getName().compare(_bullet_name) == 0)
{
PRELOG(Error, this->tc) << "[KDL+BULLET] Found joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
PRELOG(Info, this->tc) << "[KDL+BULLET] Found joint Motorname " << jointInfo.m_jointName << " at index " << jointInfo.m_jointIndex << RTT::endlog();
map_joint_names_2_indices[jointInfo.m_jointName] = jointInfo.m_jointIndex;
vec_joint_indices.push_back(jointInfo.m_jointIndex);
_found_bullet_joint_for_kdl_joint = true;
Expand Down Expand Up @@ -551,7 +551,7 @@ bool RobotManipulatorBullet::configure()
this->M[i * this->num_motor_joints + j] = 0.0;
}
// sim->resetJointState(this->robot_id, this->joint_indices[i], 0.0);
PRELOG(Error, this->tc) << "Resetting joint [" << i << "] = " << this->joint_indices[i] << RTT::endlog();
PRELOG(Info, this->tc) << "Resetting joint [" << i << "] = " << this->joint_indices[i] << RTT::endlog();
}

// Initialize the global control parameters (This could perhaps evolve into a memory leak, if the arrays are not freed when stopped!)
Expand Down Expand Up @@ -600,4 +600,4 @@ bool RobotManipulatorBullet::setBasePosition(const double &x, const double &y, c
{
return false;
}
}
}

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