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add utility for reading and writing of minitaur quadruped robot log files.

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Example usage:
const char* fileName = "D:/LOG00053.TXT";
btAlignedObjectArray<MinitaurLogRecord> logRecords;
btAlignedObjectArray<std::string> structNames;
std::string structTypes;
bool verbose = false;
//reading
int val = readMinitaurLogFile(fileName, structNames, structTypes,
logRecords, verbose);

//writing
const char* fileNameOut = "D:/LOG00100.TXT";
FILE* f = createMinitaurLogFile(fileNameOut,structNames,structTypes);
for (int i=0;i<logRecords.size();i++)
{
  appendMinitaurLogData(f, structTypes, logRecords[i]);
}
closeMinitaurLogFile(f);
This commit is contained in:
Erwin Coumans
2017-02-09 09:48:50 -08:00
parent 0c464e6848
commit 0e8bc418d7
2 changed files with 307 additions and 0 deletions
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54
examples/Utils/RobotLoggingUtil.h Normal file
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@@ -0,0 +1,54 @@
#ifndef ROBOT_LOGGING_UTIL_H
#define ROBOT_LOGGING_UTIL_H
#include "LinearMath/btAlignedObjectArray.h"
#include <string>
struct MinitaurLogValue
{
MinitaurLogValue()
:m_intVal(0xcdcdcdcd)
{
}
MinitaurLogValue(int iv)
:m_intVal(iv)
{
}
MinitaurLogValue(float fv)
:m_floatVal(fv)
{
}
MinitaurLogValue(char fv)
:m_charVal(fv)
{
}
union
{
char m_charVal;
int m_intVal;
float m_floatVal;
};
};
struct MinitaurLogRecord
{
btAlignedObjectArray<MinitaurLogValue> m_values;
};
enum MINITAUR_LOG_ERROR
{
eMinitaurFileNotFound = -1,
eCorruptHeader = -2,
eUnknownType = -3,
eCorruptValue = -4,
eInvalidAABBAlignCheck = -5,
};
int readMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>& structNames, std::string& structTypes, btAlignedObjectArray<MinitaurLogRecord>& logRecords, bool verbose);
FILE* createMinitaurLogFile(const char* fileName, btAlignedObjectArray<std::string>& structNames, std::string& structTypes);
void appendMinitaurLogData(FILE* f, std::string& structTypes, const MinitaurLogRecord& logData);
void closeMinitaurLogFile(FILE* f);
#endif //ROBOT_LOGGING_UTIL_H