From 4e8056c98f1f123f2e5a140b6b8469e0c2c97bb4 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 23 Mar 2012 11:36:06 +0100
Subject: [PATCH] Do not initialize tracer, let user do it.
---
.../sot/dynamics/humanoid_robot.py | 25 +++++++++----------
1 file changed, 12 insertions(+), 13 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index d721b3a..8a805ae 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -372,13 +372,11 @@ class AbstractHumanoidRobot (object):
transformation,
signalName)
- # Initialize tracer.
- self.initializeTracer()
-
def addTrace(self, entityName, signalName):
- self.autoRecomputedSignals.append(
- '{0}.{1}'.format(entityName, signalName))
- addTrace(self, self.tracer, entityName, signalName)
+ if self.tracer:
+ self.autoRecomputedSignals.append(
+ '{0}.{1}'.format(entityName, signalName))
+ addTrace(self, self.tracer, entityName, signalName)
def initializeTracer(self):
if not self.tracer:
@@ -441,13 +439,14 @@ class AbstractHumanoidRobot (object):
"""
Stop and destroy tracer.
"""
- self.tracer.dump()
- self.tracer.stop()
- self.tracer.close()
- self.tracer.clear()
- for s in self.autoRecomputedSignals:
- self.device.after.rmSignal(s)
- self.tracer = None
+ if self.tracer:
+ self.tracer.dump()
+ self.tracer.stop()
+ self.tracer.close()
+ self.tracer.clear()
+ for s in self.autoRecomputedSignals:
+ self.device.after.rmSignal(s)
+ self.tracer = None
def reset(self, posture = None):
"""
--
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