From 5c86c8bef8161752a5b2d870825a15cf4a4cab72 Mon Sep 17 00:00:00 2001 From: Roelof Oomen Date: Mon, 8 Jan 2024 14:34:07 +0100 Subject: [PATCH] Added extra logging to match the output of trajopt_sco --- .../trajopt_sqp/src/trust_region_sqp_solver.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/trajopt_optimizers/trajopt_sqp/src/trust_region_sqp_solver.cpp b/trajopt_optimizers/trajopt_sqp/src/trust_region_sqp_solver.cpp index 34ea048e..6135d97c 100644 --- a/trajopt_optimizers/trajopt_sqp/src/trust_region_sqp_solver.cpp +++ b/trajopt_optimizers/trajopt_sqp/src/trust_region_sqp_solver.cpp @@ -108,6 +108,10 @@ void TrustRegionSQPSolver::solve(const QPProblem::Ptr& qp_problem) break; } + CONSOLE_BRIDGE_logDebug("current iterate: %s", + (std::ostringstream() << results_.best_var_vals.transpose()).str().c_str()); + CONSOLE_BRIDGE_logInform("iteration %i", convex_iteration); + if (results_.overall_iteration >= params.max_iterations) { CONSOLE_BRIDGE_logInform("Iteration limit");