Prefix LOG and CHECK with AOS_
This prepares us for introducing glog more widely and transitioning
things over where they make sense.
Change-Id: Ic6c208882407bc2153fe875ffc736d66f5c8ade5
diff --git a/frc971/control_loops/drivetrain/hybrid_ekf.h b/frc971/control_loops/drivetrain/hybrid_ekf.h
index 16b0b61..3f3a7f7 100644
--- a/frc971/control_loops/drivetrain/hybrid_ekf.h
+++ b/frc971/control_loops/drivetrain/hybrid_ekf.h
@@ -157,7 +157,7 @@
// Because the check below for have_zeroed_encoders_ will add an
// Observation, do a check here to ensure that initialization has been
// performed and so there is at least one observation.
- CHECK(!observations_.empty());
+ AOS_CHECK(!observations_.empty());
if (!have_zeroed_encoders_) {
// This logic handles ensuring that on the first encoder reading, we
// update the internal state for the encoders to match the reading.
@@ -310,7 +310,7 @@
PredictImpl(obs->U, dt, state, P);
}
if (!(obs->h && obs->dhdx)) {
- CHECK(obs->make_h);
+ AOS_CHECK(obs->make_h);
obs->make_h(*state, *P, &obs->h, &obs->dhdx);
}
CorrectImpl(obs->R, obs->z, obs->h(*state, obs->U), obs->dhdx(*state),
@@ -351,18 +351,19 @@
dhdx,
const Eigen::Matrix<Scalar, kNOutputs, kNOutputs> &R,
aos::monotonic_clock::time_point t) {
- CHECK(!observations_.empty());
+ AOS_CHECK(!observations_.empty());
if (!observations_.full() && t < observations_.begin()->t) {
- LOG(ERROR,
- "Dropped an observation that was received before we "
- "initialized.\n");
+ AOS_LOG(ERROR,
+ "Dropped an observation that was received before we "
+ "initialized.\n");
return;
}
auto cur_it =
observations_.PushFromBottom({t, t, State::Zero(), StateSquare::Zero(),
Input::Zero(), z, make_h, h, dhdx, R});
if (cur_it == observations_.end()) {
- LOG(DEBUG,
+ AOS_LOG(
+ DEBUG,
"Camera dropped off of end with time of %fs; earliest observation in "
"queue has time of %fs.\n",
::aos::time::DurationInSeconds(t.time_since_epoch()),
@@ -395,7 +396,7 @@
--prev_it;
cur_it->prev_t = prev_it->t;
// TODO(james): Figure out a saner way of handling this.
- CHECK(U != nullptr);
+ AOS_CHECK(U != nullptr);
cur_it->U = *U;
} else {
cur_it->X_hat = next_it->X_hat;
@@ -411,7 +412,7 @@
// We use X_hat_ and P_ to store the intermediate states, and then
// once we reach the end they will all be up-to-date.
ProcessObservation(&*cur_it, cur_it->t - cur_it->prev_t, &X_hat_, &P_);
- CHECK(X_hat_.allFinite());
+ AOS_CHECK(X_hat_.allFinite());
if (next_it != observations_.end()) {
next_it->X_hat = X_hat_;
next_it->P = P_;