tgCPGLogger.cpp

Go to the documentation of this file.

/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#include "tgCPGLogger.h"

#include "BaseSpineCPGControl.h"

#include <iostream>
#include <fstream>
#include <string>

tgCPGLogger::tgCPGLogger(std::string fileName) :
time (0.0),
m_fileName(fileName)
{
}

tgCPGLogger::~tgCPGLogger()
{ }

void tgCPGLogger::onStep(BaseSpineCPGControl& subject, double dt)
{
                time += dt;
                
      // Then, open our output stream and render!
      std::ofstream tgOutput;
      tgOutput.open(m_fileName.c_str(), std::ios::app);
                
                tgOutput << time << ",";
                
                bool runLoop = true;
                std::size_t i = 0;
                
                while (runLoop)
                {
                                // Don't know how many nodes are in CPG, so just try until we fail
                  try 
                  {
        tgOutput << subject.getCPGValue(i) << ",";
        i++;
                  }
                  catch (std::invalid_argument e)
                  {
                                // Got the error we expected, end the loop
                                tgOutput << std::endl;
                                runLoop = false;
                  }
                }
                
                tgOutput.close();
}