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屏蔽算法运行时冗余日志

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This commit is contained in:
zhangshun
2026-06-16 16:00:36 +08:00
parent 5aa855d7aa
commit 856a7250f2
6 changed files with 0 additions and 55 deletions
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6
src/QuadrupedRobotSimulation/KinematicsHelper.cpp
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@@ -84,9 +84,6 @@ void KinematicsHelper::SimRobot()
json KinematicsHelper::QuadrupedRobot_CalculateAllPointsFromMotorAngles(const std::string &jsonInput)
{
std::cout << "[DEBUG] json KinematicsHelper::QuadrupedRobot_CalculateAllPointsFromMotorAngles(const std::string &jsonInput) " << std::endl;
std::string jsonStr = "{}";
auto manager = RobotGaitDataManagerFromJson(jsonInput);
ReverseKinematicsCalculator simulation(manager);
@@ -96,9 +93,6 @@ json KinematicsHelper::QuadrupedRobot_CalculateAllPointsFromMotorAngles(const st
}
json KinematicsHelper::QuadrupedRobot_PerformForwardKinematics(const std::string &jsonInput)
{
std::cout << "[DEBUG] json KinematicsHelper::QuadrupedRobot_PerformForwardKinematics(const std::string &jsonInput) " << std::endl;
auto manager = RobotGaitDataManagerFromJson(jsonInput);
QuadrupedRobotConfiguration config(manager->GetGaitInfo(), manager->GetSystemParameters());
QuadrupedRobotSimulation simulation(config);

10
src/QuadrupedRobotSimulation/KinematicsReverse.cpp
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@@ -972,8 +972,6 @@ std::string ReverseKinematicsCalculator::CalculateAllPointsFromMotorAnglesJsonSt
if (paramDict.empty())
{
std::cout << "[DEBUG] 没有Param数据 json KinematicsHelper::QuadrupedRobot_CalculateAllPointsFromMotorAngles(const std::string &jsonInput) " << std::endl;
return "没有Param数据";
}
// debugPrintParamDict(paramDict);
@@ -991,14 +989,6 @@ std::string ReverseKinematicsCalculator::CalculateAllPointsFromMotorAnglesJsonSt
auto points_dict = CalculateAllPointsFromMotorAnglesReverse(
thigh_angle_deg, shank_angle_deg, ankle_angle_deg, leg_type);
// std::cout << "计算得到的点数量: " << points_dict.size() << "\n";
// std::cout << "包含的点: ";
for (const auto &p : points_dict)
{
std::cout << p.first << " ";
}
// std::cout << "\n";
// 改为：
auto modelID = _manager->GetModelIDObject(); // 使用新方法

5
src/QuadrupedRobotSimulation/KinematicsSimulation.cpp
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@@ -886,11 +886,6 @@ void QuadrupedRobotSimulation::CalculateMotorData()
int phase_RF = static_cast<int>(timeRF * n_frames);
int phase_RH = static_cast<int>(timeRH * n_frames);
std::cout << "步态类型: " << gait_type << std::endl;
std::cout << "总帧数: " << n_frames << std::endl;
std::cout << "相位偏移（帧）: LF=0, LH=" << phase_LH
<< ", RF=" << phase_RF << ", RH=" << phase_RH << std::endl;
// 1. 计算左前腿基准数据
motor_data_LF_raw = CalculateIncrementsAndVelocities();

30
src/Robot.cpp
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@@ -67,7 +67,6 @@ bool Robot::selectKinematicChain(const KDL::Tree &tree, KDL::Chain &selectedChai
if (tree.getChain("base", "tool0", legacyChain) && legacyChain.getNrOfJoints() == 6)
{
selectedChain = legacyChain;
std::cout << "Selected kinematic chain by legacy names: base -> tool0" << std::endl;
return true;
}
@@ -115,10 +114,6 @@ bool Robot::selectKinematicChain(const KDL::Tree &tree, KDL::Chain &selectedChai
return false;
}
std::cout << "Selected kinematic chain by inference: " << rootName
<< " -> " << selectedTipName
<< " (" << selectedChain.getNrOfJoints() << " joints, "
<< selectedChain.getNrOfSegments() << " segments)" << std::endl;
return true;
}
@@ -209,10 +204,6 @@ bool Robot::validateJointLimits(const double joints[6], const std::string &conte
if (value < lower - tolerance || value > upper + tolerance)
{
const std::string jointName = i < activeJointNames.size() ? activeJointNames[i] : ("joint_" + std::to_string(i + 1));
std::cerr << context << " joint limit violation: " << jointName
<< " value=" << value
<< ", range=[" << lower << ", " << upper << "]" << std::endl;
return false;
}
}
@@ -225,7 +216,6 @@ bool Robot::validateJointLimits(const std::vector<double> &joints, const std::st
{
if (joints.size() != 6)
{
std::cerr << context << " joint count invalid: " << joints.size() << std::endl;
return false;
}
@@ -292,8 +282,6 @@ bool Robot::initRobot(const std::string &urdfString)
// LMA 求解器按调用时动态构造，便于传入不同收敛参数。
m_initialized = true;
std::cout << "Robot initialized successfully with "
<< kinematicChain.getNrOfJoints() << " joints" << std::endl;
numberOfJoints = getNumberOfJoints();
return true;
}
@@ -409,9 +397,6 @@ bool Robot::parseJointChildLinkUuidsFromUrdf(const std::string &urdfString)
std::smatch matches;
std::string::const_iterator searchStart(urdfString.cbegin());
// 输出解析过程，便于排查 URDF 结构问题。
std::cout << "Parsing URDF for joint child link UUIDs..." << std::endl;
bool foundAny = false;
while (std::regex_search(searchStart, urdfString.cend(), matches, jointRegex))
{
@@ -422,10 +407,6 @@ bool Robot::parseJointChildLinkUuidsFromUrdf(const std::string &urdfString)
std::string uuid = matches[3].str();
jointChildLinkUuidMap[jointName] = uuid;
// 输出匹配结果。
std::cout << "Found joint: " << jointName
<< " -> Child link: " << childLinkName
<< " -> UUID: " << uuid << std::endl;
foundAny = true;
}
searchStart = matches.suffix().first;
@@ -434,8 +415,6 @@ bool Robot::parseJointChildLinkUuidsFromUrdf(const std::string &urdfString)
// 如果首轮没有命中，则退化为更宽松的解析方式。
if (!foundAny)
{
std::cout << "Trying alternative parsing method..." << std::endl;
// 方案二：分别匹配 joint 名称和 child link。
std::regex jointNameRegex(R"(<joint\s+name=\"([^\"]+)\")");
std::regex childLinkRegex(R"(<child\s+link=\"([^\"]+)\"\s+uuid=\"([^\"]+)\")");
@@ -471,9 +450,6 @@ bool Robot::parseJointChildLinkUuidsFromUrdf(const std::string &urdfString)
std::string uuid = childMatches[2].str();
jointChildLinkUuidMap[jointName] = uuid;
std::cout << "Found joint: " << jointName
<< " -> Child link: " << childLinkName
<< " -> UUID: " << uuid << std::endl;
foundAny = true;
}
}
@@ -489,15 +465,9 @@ bool Robot::parseJointChildLinkUuidsFromUrdf(const std::string &urdfString)
{
std::cerr << "No joint child link UUIDs found in URDF" << std::endl;
// 仅打印前 500 个字符，避免日志过长。
std::cout << "First 500 characters of URDF:" << std::endl;
std::cout << urdfString.substr(0, 500) << std::endl;
return false;
}
std::cout << "Successfully parsed " << jointChildLinkUuidMap.size()
<< " joint child link UUIDs" << std::endl;
return true;
}
catch (const std::exception &e)

2
src/api/KinematicsWebAPI.Core.cpp
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@@ -150,8 +150,6 @@ json KinematicsWebAPI::createUnknownCommandResponse(const std::string &req_cmd,
void KinematicsWebAPI::log(const std::string &message)
{
std::cout << "[" << getCurrentTimestamp() << "] " << message << std::endl;
if (onLog)
{
onLog("[" + getCurrentTimestamp() + "] " + message);

2
src/api/KinematicsWebAPI.QuadrupedCommands.cpp
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@@ -7,13 +7,11 @@ json KinematicsWebAPI::handleQuadrupedCommand(const std::string &req_cmd, const
{
if (req_cmd == "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles")
{
std::cout << "[DEBUG] Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles: 开始计算点位" << std::endl;
return KinematicsHelper::QuadrupedRobot_CalculateAllPointsFromMotorAngles(req_param.dump());
}
if (req_cmd == "Cmd_QuadrupedRobot_PerformForwardKinematics")
{
std::cout << "[DEBUG] Cmd_QuadrupedRobot_PerformForwardKinematics: 开始执行正运动学" << std::endl;
return KinematicsHelper::QuadrupedRobot_PerformForwardKinematics(req_param.dump());
}