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')