From ddb309500519f2813debfefefac87495c92f0174 Mon Sep 17 00:00:00 2001
From: Davide <davidegorbani@gmail.com>
Date: Thu, 14 Dec 2023 14:46:36 +0100
Subject: [PATCH] added Logging in HumanIK

---
 .github/workflows/ci.yml         | 2 +-
 src/IK/CMakeLists.txt            | 1 +
 src/IK/src/InverseKinematics.cpp | 8 ++++----
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index f1c81e1..f76cbc2 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -33,7 +33,7 @@ jobs:
           run: |
             echo "DATE=$(date +'%Y-%m-%d')" >> $GITHUB_ENV
 
-         # Use mamba for Windows dependencies
+         # Use mamba for dependencies
         - uses: mamba-org/setup-micromamba@v1
           with:
             environment-file: ci_env.yml
diff --git a/src/IK/CMakeLists.txt b/src/IK/CMakeLists.txt
index 956a323..edb3f9e 100644
--- a/src/IK/CMakeLists.txt
+++ b/src/IK/CMakeLists.txt
@@ -4,4 +4,5 @@ add_biomechanical_analysis_library(
     PUBLIC_HEADERS         include/BiomechanicalAnalysis/IK/InverseKinematics.h
     SOURCES                src/InverseKinematics.cpp
     PUBLIC_LINK_LIBRARIES  BipedalLocomotion::IK BipedalLocomotion::ParametersHandler
+    PRIVATE_LINK_LIBRARIES BiomechanicalAnalysis::Logging
     SUBDIRECTORIES         tests)
diff --git a/src/IK/src/InverseKinematics.cpp b/src/IK/src/InverseKinematics.cpp
index 9e0e91d..e07d87a 100644
--- a/src/IK/src/InverseKinematics.cpp
+++ b/src/IK/src/InverseKinematics.cpp
@@ -1,4 +1,5 @@
 #include <BiomechanicalAnalysis/IK/InverseKinematics.h>
+#include <BiomechanicalAnalysis/Logging/Logger.h>
 #include <iostream>
 
 using namespace BiomechanicalAnalysis::IK;
@@ -9,16 +10,15 @@ bool HumanIK::initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandle
 {
     constexpr std::size_t highPriority = 0;
     constexpr std::size_t lowPriority = 1;
+    constexpr auto logPrefix = "[HumanIK::initialize]";
 
     m_jointPositions.resize(kinDyn->getNrOfDegreesOfFreedom());
     m_jointVelocities.resize(kinDyn->getNrOfDegreesOfFreedom());
 
-    std::cout << "nr of dofs = " << kinDyn->getNrOfDegreesOfFreedom() << std::endl;
-
     auto ptr = handler.lock();
     if (ptr == nullptr)
     {
-        std::cerr << "[HumanIK::initialize] Invalid parameter handler." << std::endl;
+        BiomechanicalAnalysis::log()->error("{} parameters handler is a null pointer.", logPrefix);
         return false;
     }
 
@@ -35,7 +35,7 @@ bool HumanIK::initialize(std::weak_ptr<const BipedalLocomotion::ParametersHandle
 
     m_qpIK.finalize(m_variableHandler);
 
-    return true;
+    return ok;
 }
 
 bool HumanIK::setDt(const double dt)