def appendMilestone(self,destination,endvelocity=None):
t = time.time()-self.starttime
self.file.write(str(t)+' appendMilestone\t'+loader.writeVector(destination))
if endvelocity != None:
self.file.write('\t'+loader.writeVector(endvelocity))
self.file.write('\n')
return self.base.appendMilestone(destination,endvelocity)
def write(dbf, dbr, dbc, motions, prefix='', suffix=''):
print "Writing %d features to %sfeatures%s.csv" % (len(
dbf.entries), prefix, suffix)
print "Writing feature relevance to %srelevance%s.csv" % (prefix, suffix)
print "Writing concept to %sconcept%s.csv" % (prefix, suffix)
print "Writing %d motions to %smotions%s.txt" % (len(motions), prefix,
suffix)
if dbf != None:
dbf.writeCSV("%sfeatures%s.csv" % (prefix, suffix))
if dbr != None:
dbr.writeCSV("%srelevance%s.csv" % (prefix, suffix))
if dbc != None:
dbc.writeCSV("%sconcept%s.csv" % (prefix, suffix))
f = open("%smotions%s.txt" % (prefix, suffix), "w")
for i, m in enumerate(motions):
f.write(str(i) + "\t")
for milestone in m:
f.write(loader.writeVector(milestone))
f.write("\t")
f.write("\n")
f.close()
def commandGripper(self,limb,command):
t = time.time()-self.starttime
self.file.write(str(t)+' commandGripper\t'+limb+'\t'+loader.writeVector(command)+'\n')
return self.base.commandGripper(limb,command)
def setPIDCommand(self,configuration,velocity):
t = time.time()-self.starttime
self.file.write(str(t)+' PID\t'+loader.writeVector(configuration)+'\t'+loader.writeVector(velocity)+'\n')
return self.base.setPIDCommand(configuration,velocity)
def __init__(self,base,filename):
print "LOGGING LOW LEVEL COMMANDS TO",filename
self.file = open(filename,'w')
self.starttime = time.time()
self.base = base
self.file.write('0 startConfig\t'+loader.writeVector(self.base.getCommandedConfig())+'\n')
