Update collision_robot_distance_field logger

moveit · Jun 13, 2019 · 6fc6693 · 6fc6693
1 parent 86c82b3
commit 6fc6693
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Showing 2 changed files with 63 additions and 47 deletions.
diff --git a/...n_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h b/...n_distance_field/include/moveit/collision_distance_field/collision_robot_distance_field.h
@@ -55,6 +55,9 @@ static const double DEFAULT_RESOLUTION = .02;
 static const double DEFAULT_COLLISION_TOLERANCE = 0.0;
 static const double DEFAULT_MAX_PROPOGATION_DISTANCE = .25;
 
+static rclcpp::Logger LOGGER_COLLISION_ROBOT_DISTANCE_FIELD =
+    rclcpp::get_logger("moveit").get_child("collision_robot_distance_field");
+
 MOVEIT_CLASS_FORWARD(CollisionRobotDistanceField);
 
 class CollisionRobotDistanceField : public CollisionRobot
@@ -103,37 +106,37 @@ class CollisionRobotDistanceField : public CollisionRobot
   void checkSelfCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
                           const moveit::core::RobotState& state1, const moveit::core::RobotState& state2) const override
   {
-    RCLCPP_ERROR(LOGGER_COLLISION_DISTANCE_FIELD, "Not implemented");
+    RCLCPP_ERROR(LOGGER_COLLISION_ROBOT_DISTANCE_FIELD, "Not implemented");
   };
 
   void checkSelfCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
                           const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                           const collision_detection::AllowedCollisionMatrix& acm) const override
   {
-    RCLCPP_ERROR(LOGGER_COLLISION_DISTANCE_FIELD, "Not implemented");
+    RCLCPP_ERROR(LOGGER_COLLISION_ROBOT_DISTANCE_FIELD, "Not implemented");
   };
 
   void checkOtherCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
                            const moveit::core::RobotState& state, const CollisionRobot& other_robot,
                            const moveit::core::RobotState& other_state) const override
   {
-    RCLCPP_ERROR(LOGGER_COLLISION_DISTANCE_FIELD, "Not implemented");
+    RCLCPP_ERROR(LOGGER_COLLISION_ROBOT_DISTANCE_FIELD, "Not implemented");
   };
 
   void checkOtherCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
                            const moveit::core::RobotState& state, const CollisionRobot& other_robot,
                            const moveit::core::RobotState& other_state,
                            const collision_detection::AllowedCollisionMatrix& acm) const override
   {
-    RCLCPP_ERROR(LOGGER_COLLISION_DISTANCE_FIELD, "Not implemented");
+    RCLCPP_ERROR(LOGGER_COLLISION_ROBOT_DISTANCE_FIELD, "Not implemented");
   };
 
   void checkOtherCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
                            const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                            const CollisionRobot& other_robot, const moveit::core::RobotState& other_state1,
                            const moveit::core::RobotState& other_state2) const override
   {
-    RCLCPP_ERROR(LOGGER_COLLISION_DISTANCE_FIELD, "Not implemented");
+    RCLCPP_ERROR(LOGGER_COLLISION_ROBOT_DISTANCE_FIELD, "Not implemented");
   };
 
   void checkOtherCollision(const collision_detection::CollisionRequest& req, collision_detection::CollisionResult& res,
@@ -142,7 +145,7 @@ class CollisionRobotDistanceField : public CollisionRobot
                            const moveit::core::RobotState& other_state2,
                            const collision_detection::AllowedCollisionMatrix& acm) const override
   {
-    RCLCPP_ERROR(LOGGER_COLLISION_DISTANCE_FIELD, "Not implemented");
+    RCLCPP_ERROR(LOGGER_COLLISION_ROBOT_DISTANCE_FIELD, "Not implemented");
   };
 
   void createCollisionModelMarker(const moveit::core::RobotState& state,
@@ -172,13 +175,13 @@ class CollisionRobotDistanceField : public CollisionRobot
   void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                     const robot_state::RobotState& state) const override
   {
-    RCLCPP_ERROR(LOGGER_COLLISION_DISTANCE_FIELD, "Not implemented");
+    RCLCPP_ERROR(LOGGER_COLLISION_ROBOT_DISTANCE_FIELD, "Not implemented");
   }
 
   void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
                      const CollisionRobot& other_robot, const robot_state::RobotState& other_state) const override
   {
-    RCLCPP_ERROR(LOGGER_COLLISION_DISTANCE_FIELD, "Not implemented");
+    RCLCPP_ERROR(LOGGER_COLLISION_ROBOT_DISTANCE_FIELD, "Not implemented");
   }
 
   DistanceFieldCacheEntryConstPtr getLastDistanceFieldEntry() const