def addVisualServoingTrace(self, tracer):
from agimus_sot.tools import filename_escape
self.addTrace(tracer)
tracer.add(self.feature.name + ".faMfbDes",
filename_escape(self.feature.name) + ".desired")
tracer.add(self.feature.name + ".faMfb",
filename_escape(self.feature.name) + ".actual")
def addTracerRealTime (self, robot):
from dynamic_graph.tracer_real_time import TracerRealTime
from agimus_sot.tools import filename_escape
self._tracer = TracerRealTime (self.name + "_tracer")
self._tracer.setBufferSize (10 * 1048576) # 10 Mo
self._tracer.open ("/tmp", filename_escape(self.name), ".txt")
self._tracer.add (self.omega2theta.name + ".sin1", "_theta_current")
self._tracer.add (self.omega2theta.name + ".sin2", "_omega_desired")
self._tracer.add (self.omega2theta.name + ".sout", "_theta_desired")
self._tracer.add (self.torque_controller.referenceName, "_reference_torque")
self._tracer.add (self.torque_controller.measurementName, "_measured_torque")
if hasattr(self, "_current_selec"):
self._tracer.add (self._current_selec.name + ".sout", "_measured_current")
robot.device.after.addSignal(self._tracer.name + ".triger")
return self._tracer
def addTrace(self, tracer):
from agimus_sot.tools import filename_escape
for task in self.tasks:
tracer.add(task.name + ".error",
filename_escape(task.name) + ".error")