diff --git a/src/bodies.cpp b/src/bodies.cpp index 700e4f2..97cff84 100644 --- a/src/bodies.cpp +++ b/src/bodies.cpp @@ -788,7 +788,7 @@ void bodies::ConvexMesh::useDimensions(const shapes::Shape *shape) if (exitcode != 0) { - logWarn("Convex hull creation failed"); + CONSOLE_BRIDGE_logWarn("Convex hull creation failed"); qh_freeqhull (!qh_ALL); int curlong, totlong; qh_memfreeshort (&curlong, &totlong); @@ -1174,7 +1174,7 @@ void bodies::BodyVector::setPose(unsigned int i, const Eigen::Affine3d& pose) { if (i >= bodies_.size()) { - logError("There is no body at index %u", i); + CONSOLE_BRIDGE_logError("There is no body at index %u", i); return; } @@ -1185,7 +1185,7 @@ const bodies::Body* bodies::BodyVector::getBody(unsigned int i) const { if (i >= bodies_.size()) { - logError("There is no body at index %u", i); + CONSOLE_BRIDGE_logError("There is no body at index %u", i); return NULL; } else diff --git a/src/body_operations.cpp b/src/body_operations.cpp index 9f6dd1a..e9f45fd 100644 --- a/src/body_operations.cpp +++ b/src/body_operations.cpp @@ -59,7 +59,7 @@ bodies::Body* bodies::createBodyFromShape(const shapes::Shape *shape) body = new bodies::ConvexMesh(shape); break; default: - logError("Creating body from shape: Unknown shape type %d", (int)shape->type); + CONSOLE_BRIDGE_logError("Creating body from shape: Unknown shape type %d", (int)shape->type); break; } @@ -112,7 +112,7 @@ Body* constructBodyFromMsgHelper(const T &shape_msg, const geometry_msgs::Pose & Eigen::Quaterniond q(pose.orientation.w, pose.orientation.x, pose.orientation.y, pose.orientation.z); if (fabs(q.squaredNorm() - 1.0) > 1e-3) { - logError("Quaternion is not normalized. Assuming identity."); + CONSOLE_BRIDGE_logError("Quaternion is not normalized. Assuming identity."); q = Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0); } Eigen::Affine3d af(Eigen::Translation3d(pose.position.x, pose.position.y, pose.position.z) * q.toRotationMatrix()); diff --git a/src/mesh_operations.cpp b/src/mesh_operations.cpp index 54c534c..2e4c751 100644 --- a/src/mesh_operations.cpp +++ b/src/mesh_operations.cpp @@ -133,7 +133,7 @@ Mesh* createMeshFromVertices(const EigenSTL::vector_Vector3d &source) return NULL; if (source.size() % 3 != 0) - logError("The number of vertices to construct a mesh from is not divisible by 3. Probably constructed triangles will not make sense."); + CONSOLE_BRIDGE_logError("The number of vertices to construct a mesh from is not divisible by 3. Probably constructed triangles will not make sense."); std::set vertices; std::vector triangles; @@ -220,7 +220,7 @@ Mesh* createMeshFromBinary(const char *buffer, std::size_t size, const Eigen::Ve { if (!buffer || size < 1) { - logWarn("Cannot construct mesh from empty binary buffer"); + CONSOLE_BRIDGE_logWarn("Cannot construct mesh from empty binary buffer"); return NULL; } @@ -285,21 +285,21 @@ Mesh* createMeshFromResource(const std::string& resource, const Eigen::Vector3d } catch (resource_retriever::Exception& e) { - logError("%s", e.what()); + CONSOLE_BRIDGE_logError("%s", e.what()); return NULL; } if (res.size == 0) { - logWarn("Retrieved empty mesh for resource '%s'", resource.c_str()); + CONSOLE_BRIDGE_logWarn("Retrieved empty mesh for resource '%s'", resource.c_str()); return NULL; } Mesh *m = createMeshFromBinary(reinterpret_cast(res.data.get()), res.size, scale, resource); if (!m) { - logWarn("Assimp reports no scene in %s.", resource.c_str()); - logWarn("This could be because of a resource filename that is too long for the Assimp library, a known bug. As a workaround shorten the filename/path."); + CONSOLE_BRIDGE_logWarn("Assimp reports no scene in %s.", resource.c_str()); + CONSOLE_BRIDGE_logWarn("This could be because of a resource filename that is too long for the Assimp library, a known bug. As a workaround shorten the filename/path."); } return m; } @@ -344,7 +344,7 @@ Mesh* createMeshFromAsset(const aiScene* scene, const Eigen::Vector3d &scale, co { if (!scene->HasMeshes()) { - logWarn("Assimp reports scene in %s has no meshes", resource_name.c_str()); + CONSOLE_BRIDGE_logWarn("Assimp reports scene in %s has no meshes", resource_name.c_str()); return NULL; } EigenSTL::vector_Vector3d vertices; @@ -352,12 +352,12 @@ Mesh* createMeshFromAsset(const aiScene* scene, const Eigen::Vector3d &scale, co extractMeshData(scene, scene->mRootNode, aiMatrix4x4(), scale, vertices, triangles); if (vertices.empty()) { - logWarn("There are no vertices in the scene %s", resource_name.c_str()); + CONSOLE_BRIDGE_logWarn("There are no vertices in the scene %s", resource_name.c_str()); return NULL; } if (triangles.empty()) { - logWarn("There are no triangles in the scene %s", resource_name.c_str()); + CONSOLE_BRIDGE_logWarn("There are no triangles in the scene %s", resource_name.c_str()); return NULL; } @@ -378,7 +378,7 @@ Mesh* createMeshFromShape(const Shape *shape) if (shape->type == shapes::CONE) return shapes::createMeshFromShape(static_cast(*shape)); else - logError("Conversion of shape of type '%s' to a mesh is not known", shapeStringName(shape).c_str()); + CONSOLE_BRIDGE_logError("Conversion of shape of type '%s' to a mesh is not known", shapeStringName(shape).c_str()); return NULL; } diff --git a/src/shape_operations.cpp b/src/shape_operations.cpp index e3a32cd..7b63b15 100644 --- a/src/shape_operations.cpp +++ b/src/shape_operations.cpp @@ -62,7 +62,7 @@ Shape* constructShapeFromMsg(const shape_msgs::Mesh &shape_msg) { if (shape_msg.triangles.empty() || shape_msg.vertices.empty()) { - logWarn("Mesh definition is empty"); + CONSOLE_BRIDGE_logWarn("Mesh definition is empty"); return NULL; } else @@ -117,7 +117,7 @@ Shape* constructShapeFromMsg(const shape_msgs::SolidPrimitive &shape_msg) shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_HEIGHT]); } if (shape == NULL) - logError("Unable to construct shape corresponding to shape_msg of type %d", (int)shape_msg.type); + CONSOLE_BRIDGE_logError("Unable to construct shape corresponding to shape_msg of type %d", (int)shape_msg.type); return shape; } @@ -202,7 +202,7 @@ bool constructMarkerFromShape(const Shape* shape, visualization_msgs::Marker &ma } catch (std::runtime_error &ex) { - logError("%s", ex.what()); + CONSOLE_BRIDGE_logError("%s", ex.what()); } if (ok) return true; @@ -451,7 +451,7 @@ bool constructMsgFromShape(const Shape* shape, ShapeMsg &shape_msg) } else { - logError("Unable to construct shape message for shape of type %d", (int)shape->type); + CONSOLE_BRIDGE_logError("Unable to construct shape message for shape of type %d", (int)shape->type); return false; } @@ -512,7 +512,7 @@ void saveAsText(const Shape *shape, std::ostream &out) } else { - logError("Unable to save shape of type %d", (int)shape->type); + CONSOLE_BRIDGE_logError("Unable to save shape of type %d", (int)shape->type); } } @@ -580,7 +580,7 @@ Shape* constructShapeFromText(std::istream &in) m->computeVertexNormals(); } else - logError("Unknown shape type: '%s'", type.c_str()); + CONSOLE_BRIDGE_logError("Unknown shape type: '%s'", type.c_str()); } } return result; diff --git a/src/shapes.cpp b/src/shapes.cpp index 292012d..48c6cc1 100644 --- a/src/shapes.cpp +++ b/src/shapes.cpp @@ -224,12 +224,12 @@ shapes::Shape* shapes::OcTree::clone() const void shapes::OcTree::scaleAndPadd(double scale, double padd) { - logWarn("OcTrees cannot be scaled or padded"); + CONSOLE_BRIDGE_logWarn("OcTrees cannot be scaled or padded"); } void shapes::Plane::scaleAndPadd(double scale, double padding) { - logWarn("Planes cannot be scaled or padded"); + CONSOLE_BRIDGE_logWarn("Planes cannot be scaled or padded"); } void shapes::Shape::scale(double scale)