def to_yaml_file(self, file_name):
"""
Write the contents of the interaction control options to a yaml file
"""
file_name = ensure_path_to_file_exists(file_name)
with open(file_name, "w") as outfile:
yaml.dump(self.to_dict(), outfile, default_flow_style=False)
def to_yaml_file(self, file_name):
"""
Write the contents of the trajectory message to a yaml file
@param file_name: location to write file. Will create directory if needed.
"""
file_name = ensure_path_to_file_exists(file_name)
with open(file_name, "w") as outfile:
yaml.dump(self.to_dict(), outfile, default_flow_style=False)
def to_csv_file(self, file_name):
"""
Write the joint angles of the waypoints to a csv file. The first row
contains the joint names and subsequent rows contain joint angles.
@param file_name: location to write file. Will create directory if needed.
"""
file_name = ensure_path_to_file_exists(file_name)
waypoint_data = self.get_waypoint_joint_angles_as_list()
with open(file_name, "wb") as f:
writer = csv.writer(f)
writer.writerows(waypoint_data)
def load_yaml_file(self, file_name):
"""
loads the traj from a yaml file. This will overwrite all the
data currently in this trajectory. Returns true if the reading works,
false otherwise.
@param file_name: location to read file.
"""
file_name = ensure_path_to_file_exists(file_name)
try:
with open(file_name, "r") as outfile:
return self.from_dict(yaml.load(outfile))
except:
rospy.logerr('Could not open file traj yaml file')
return False