Remove remaining reference to log4cxx

include/roboptim/trajectory/b-spline.hh

@@ -258,19 +258,8 @@ namespace trajectory
     /// \brief Whether the B-spline is uniform.
     /// Note: used for faster interval lookup.
     bool uniform_;
-
-  protected:
-    /// \brief Pointer to B-spline logger (see log4cxx documentation).
-    static log4cxx::LoggerPtr logger;
   };
 
-  /// \brief LOG4CXX logger for B-splines.
-  /// \tparam N order of the B-Spline.
-  /// \return logger.
-  template <int N>
-  log4cxx::LoggerPtr BSpline<N>::logger
-  (log4cxx::Logger::getLogger ("roboptim.trajectory"));
-
   /// @}
 
 } // end of namespace trajectory.

include/roboptim/trajectory/b-spline.hxx

@@ -221,21 +221,13 @@ namespace trajectory
   typename BSpline<N>::cox_map
   BSpline<N>::cox_de_boor (size_type j, size_type n) const
   {
-    ROBOPTIM_DEBUG_ONLY(std::stringstream label;
-    label << "[j=" << j << "/n=" << n << "]");
-
     if (n == 0) //end of recursion
       {
 	cox_map map;
 	typename polynomial_t::coefs_t temp_params;
 	temp_params.setZero();
 	temp_params[0] = 1.;
-	ROBOPTIM_DEBUG_ONLY (std::pair<cox_map_itr_t BOOST_PP_COMMA() bool> ptr =)
-	  map.insert (std::make_pair (j, polynomial_t (0., temp_params)));
-
-	ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                            label.str() << "return(end)    : "
-                                                        << ptr.first->second));
+        map.insert (std::make_pair (j, polynomial_t (0., temp_params)));
 
 	return map;
       }
@@ -253,53 +245,24 @@ namespace trajectory
 	polynomial_t p_1_rat;
 	if (tn > t0) p_1_rat = 1. / (tn - t0) * monomial_t (t0);
 
-	ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                            label.str() << "p_1_rat        : "
-                                                        << p_1_rat));
-
 	cox_map p_1_cox = cox_de_boor (j, n - 1);
 	cox_map p_1;
 
 	for (cox_map_itr_t itr = p_1_cox.begin (); itr != p_1_cox.end(); itr++)
 	  {
-	    ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                                label.str()
-                                                << "p_1_cox        : "
-                                                << itr->first
-                                                << " : " << itr->second));
-
 	    polynomial_t p_prod = itr->second * p_1_rat;
 
-	    ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                                label.str() << "p_prod (1)     : "
-                                                            << p_prod));
 	    p_1.insert (std::make_pair (itr->first, p_prod));
 	  }
 
 	polynomial_t p_2_rat;
 	if (tn1 > t1) p_2_rat = 1. / (t1 - tn1) * monomial_t (tn1);
 
-	ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                            label.str() << "p_2_rat        : "
-                                            << p_2_rat));
-
 	cox_map p_2_cox = cox_de_boor (j + 1, n - 1);
 	cox_map p_2;
 	for (cox_map_itr_t itr = p_2_cox.begin(); itr != p_2_cox.end(); itr++)
 	  {
-	    ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                                label.str()
-                                                << "p_2_cox        : "
-                                                << itr->first
-                                                << " : " << itr->second));
-
 	    polynomial_t p_prod = itr->second * p_2_rat;
-
-            ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                                label.str()
-                                                << "p_prod (2)     : "
-                                                << p_prod));
-
 	    p_2.insert (std::make_pair (itr->first, p_prod));
 	  }
 
@@ -314,17 +277,6 @@ namespace trajectory
 	      p.insert (std::make_pair (itr->first, itr->second));
 	  }
 
-        ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                            label.str()
-                                            << "result of recursion branch"));
-
-	for (cox_map_itr_t itr = p.begin(); itr != p.end(); itr++)
-	  {
-	    ROBOPTIM_DEBUG_ONLY (LOG4CXX_DEBUG (this->logger,
-                                                label.str() << "B_" << j
-                                                << "_" << itr->first << "  : "
-                                                << itr->second));
-	  }
 	return p;
       }
   }
@@ -381,10 +333,6 @@ namespace trajectory
 
 	for (cox_map_itr_t itr = map.begin(); itr != map.end(); itr++)
 	  {
-	    LOG4CXX_DEBUG (this->logger,
-			   "B_" << j << "_"
-			   << itr->first << "  : " << itr->second);
-
 	    basisPolynomials_.back ().push_back (itr->second);
 	  }
       }