From caea49f1a2dabcfbd54d4b1e546a0c782a5f0a86 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Thu, 19 Aug 2021 18:23:23 +0200
Subject: [PATCH] Fix log of h_v_windowed + Add MPC_type to the name of the log
file
---
scripts/LoggerControl.py | 14 ++++++++++----
1 file changed, 10 insertions(+), 4 deletions(-)
diff --git a/scripts/LoggerControl.py b/scripts/LoggerControl.py
index 1fddd35b..21c45065 100644
--- a/scripts/LoggerControl.py
+++ b/scripts/LoggerControl.py
@@ -5,7 +5,7 @@ from time import time
import pinocchio as pin
class LoggerControl():
- def __init__(self, dt, N0_gait, joystick=None, estimator=None, loop=None, gait=None, statePlanner=None,
+ def __init__(self, dt, N0_gait, type_MPC=None, joystick=None, estimator=None, loop=None, gait=None, statePlanner=None,
footstepPlanner=None, footTrajectoryGenerator=None, logSize=60e3, ringBuffer=False):
self.ringBuffer = ringBuffer
logSize = np.int(logSize)
@@ -13,6 +13,10 @@ class LoggerControl():
self.i = 0
self.dt = dt
+ if type_MPC is not None:
+ self.type_MPC = int(type_MPC)
+ else:
+ self.type_MPC = 0
# Allocate the data:
# Joystick
@@ -671,7 +675,7 @@ class LoggerControl():
def saveAll(self, loggerSensors, fileName="data"):
date_str = datetime.now().strftime('_%Y_%m_%d_%H_%M')
- np.savez_compressed(fileName + date_str + ".npz",
+ np.savez_compressed(fileName + date_str + "_" + str(self.type_MPC) + ".npz",
joy_v_ref=self.joy_v_ref,
@@ -699,6 +703,7 @@ class LoggerControl():
loop_o_q=self.loop_o_q,
loop_o_v=self.loop_o_v,
loop_h_v=self.loop_h_v,
+ loop_h_v_windowed=self.loop_h_v_windowed,
loop_t_filter=self.loop_t_filter,
loop_t_planner=self.loop_t_planner,
loop_t_mpc=self.loop_t_mpc,
@@ -790,6 +795,7 @@ class LoggerControl():
self.loop_o_q = data["loop_o_q"]
self.loop_o_v = data["loop_o_v"]
self.loop_h_v = data["loop_h_v"]
+ self.loop_h_v_windowed = data["loop_h_v_windowed"]
self.loop_t_filter = data["loop_t_filter"]
self.loop_t_planner = data["loop_t_planner"]
self.loop_t_mpc = data["loop_t_mpc"]
@@ -1036,8 +1042,8 @@ if __name__ == "__main__":
import LoggerSensors
# Create loggers
- loggerSensors = LoggerSensors.LoggerSensors(logSize=10000-3)
- logger = LoggerControl(0.001, 30, logSize=10000-3)
+ loggerSensors = LoggerSensors.LoggerSensors(logSize=15000-3)
+ logger = LoggerControl(0.001, 30, logSize=15000-3)
# Load data from .npz file
logger.loadAll(loggerSensors)
--
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