remove includes too, if debug drawings are disabled

dfki-ric · Dec 3, 2024 · 59c0ffb · 59c0ffb
1 parent 236a200
commit 59c0ffb
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Showing 6 changed files with 27 additions and 8 deletions.
diff --git a/src/DebugDrawingDeclarations.cpp b/src/DebugDrawingDeclarations.cpp
@@ -1,3 +1,5 @@
+#ifdef ENABLE_DEBUG_DRAWINGS
+
 #include <vizkit3d_debug_drawings/DebugDrawing.hpp>
 
 // planner debug channels
@@ -19,4 +21,6 @@ V3DD_DECLARE_DEBUG_DRAWING_CHANNEL("ugv_nav4d_check_fail_start");
 V3DD_DECLARE_DEBUG_DRAWING_CHANNEL("ugv_nav4d_obs_check_fail_start");
 V3DD_DECLARE_DEBUG_DRAWING_CHANNEL("ugv_nav4d_goalBox");
 V3DD_DECLARE_DEBUG_DRAWING_CHANNEL("ugv_nav4d_startBox");
-V3DD_DECLARE_DEBUG_DRAWING_CHANNEL("ugv_nav4d_primitives");
+V3DD_DECLARE_DEBUG_DRAWING_CHANNEL("ugv_nav4d_primitives");
+
+#endif
diff --git a/src/EnvironmentXYZTheta.cpp b/src/EnvironmentXYZTheta.cpp
@@ -4,13 +4,16 @@
 #include <base/Pose.hpp>
 #include <base/Spline.hpp>
 #include <fstream>
-#include <vizkit3d_debug_drawings/DebugDrawing.hpp>
-#include <vizkit3d_debug_drawings/DebugDrawingColors.hpp>
 #include "PathStatistic.hpp"
 #include "Dijkstra.hpp"
 #include <limits>
 #include <base-logging/Logging.hpp>
 
+#ifdef ENABLE_DEBUG_DRAWINGS
+#include <vizkit3d_debug_drawings/DebugDrawing.hpp>
+#include <vizkit3d_debug_drawings/DebugDrawingColors.hpp>
+#endif
+
 using namespace std;
 using namespace sbpl_spline_primitives;
 using trajectory_follower::SubTrajectory;

diff --git a/src/ObstacleMapGenerator3D.cpp b/src/ObstacleMapGenerator3D.cpp
@@ -1,6 +1,9 @@
 #include "ObstacleMapGenerator3D.hpp"
+
+#ifdef ENABLE_DEBUG_DRAWINGS
 #include <vizkit3d_debug_drawings/DebugDrawing.hpp>
 #include <vizkit3d_debug_drawings/DebugDrawingColors.hpp>
+#endif
 
 using namespace maps::grid;
 

diff --git a/src/PathStatistic.cpp b/src/PathStatistic.cpp
@@ -1,8 +1,11 @@
 #include "PathStatistic.hpp"
 #include <unordered_set>
 #include <deque>
+
+#ifdef ENABLE_DEBUG_DRAWINGS
 #include <vizkit3d_debug_drawings/DebugDrawing.hpp>
 #include <vizkit3d_debug_drawings/DebugDrawingColors.hpp>
+#endif
 
 ugv_nav4d::PathStatistic::Stats::Stats() :
     obstacles(0), 
@@ -290,4 +293,4 @@ bool ugv_nav4d::PathStatistic::isPathFeasible(const std::vector<const traversabi
             return false;
     }
     return true;
-}
+}
diff --git a/src/Planner.cpp b/src/Planner.cpp
@@ -2,15 +2,18 @@
 #include <sbpl/planners/araplanner.h>
 #include <sbpl/utils/mdpconfig.h>
 #include <maps/grid/MultiLevelGridMap.hpp>
-#include <vizkit3d_debug_drawings/DebugDrawing.hpp>
-#include <vizkit3d_debug_drawings/DebugDrawingColors.hpp>
 #include <base/Eigen.hpp>
 #include "PlannerDump.hpp"
 #include <omp.h>
 #include <cmath>
 #include <base-logging/Logging.hpp>
 #include "Logger.hpp"
 
+#ifdef ENABLE_DEBUG_DRAWINGS
+#include <vizkit3d_debug_drawings/DebugDrawing.hpp>
+#include <vizkit3d_debug_drawings/DebugDrawingColors.hpp>
+#endif
+
 using namespace maps::grid;
 using trajectory_follower::SubTrajectory;
 

diff --git a/src/gui/PlannerGui.cpp b/src/gui/PlannerGui.cpp
@@ -10,8 +10,6 @@
 #include <thread>
 #include <vizkit3d/Vizkit3DWidget.hpp>
 #include <ugv_nav4d/PreComputedMotions.hpp>
-#include <vizkit3d_debug_drawings/DebugDrawing.hpp>
-#include <vizkit3d_debug_drawings/DebugDrawingColors.hpp>
 #include <boost/filesystem.hpp>
 #include <boost/archive/binary_iarchive.hpp>
 #include <pcl/io/ply_io.h>
@@ -20,6 +18,11 @@
 #include <pcl/common/transforms.h>
 #include <base-logging/Logging.hpp>
 
+#ifdef ENABLE_DEBUG_DRAWINGS
+#include <vizkit3d_debug_drawings/DebugDrawing.hpp>
+#include <vizkit3d_debug_drawings/DebugDrawingColors.hpp>
+#endif
+
 using namespace ugv_nav4d;
 
 PlannerGui::PlannerGui(const std::string& dumpName): QObject()