From ee6e89b700a264ede2b2b566227036f5211b0db5 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 6 Oct 2011 11:57:24 +0200
Subject: [PATCH] Added hide and c
---
python/mocap/footprint_parser.py | 27 +++++++++++++++++++--------
1 file changed, 19 insertions(+), 8 deletions(-)
diff --git a/python/mocap/footprint_parser.py b/python/mocap/footprint_parser.py
index cac6fee..3391914 100644
--- a/python/mocap/footprint_parser.py
+++ b/python/mocap/footprint_parser.py
@@ -11,8 +11,7 @@ class FootPrintParser:
def __init__(self,robotviewer=None,filename=None,dt=None,offset=None):
if filename==None:
self.clt=robotviewer
- self.clt.updateElementConfig('RF',[0,0,-1000,0,0,0])
- self.clt.updateElementConfig('LF',[0,0,-1000,0,0,0])
+ self.hide()
self.events ={}
return
elif dt==None:
@@ -44,14 +43,15 @@ class FootPrintParser:
for il,l in enumerate(self.file.readlines()):
if len(l.split())==0:continue
- try:(t,foot,x,y,theta)=[ float(x) for x in l.split()]
+ try:(t,foot,x,y,theta)=[ x if i==1 else float(x) for (i,x) in enumerate(l.split()) ]
except: print 'Error on line ',il,': ',l
- if foot==1: foot='LF'
+ if foot=='1' or foot=='LF': foot='LF'
else: foot='RF'
- if (x,y,theta) == (0,0,0): (x,y,theta)= (-100,-100,0)
- p=R*matrix((x,y,1)).T; theta-=a
- x=float(p[0,0]); y=float(p[1,0])
+ if (x,y,theta) == (0.0,0.0,0.0): (x,y,theta)= (-100.0,-100.0,0.0)
+ else:
+ p=R*matrix((x,y,1)).T; theta-=a
+ x=float(p[0,0]); y=float(p[1,0])
t=int(round(t*dt))
if not t in self.events.keys(): self.events[t] = []
@@ -61,5 +61,16 @@ class FootPrintParser:
def update(self,iterTime):
if not iterTime in self.events.keys(): return
for (foot, pos) in self.events[iterTime]:
- self.clt.updateElementConfig(foot,pos)
+ try:
+ self.clt.updateElementConfig(foot,pos)
+ except: None
+
+ def hide(self):
+ try:
+ self.clt.updateElementConfig('RF',[0,0,-1000,0,0,0])
+ self.clt.updateElementConfig('LF',[0,0,-1000,0,0,0])
+ except: None
+ def close(self):
+ self.hide()
+ self.clt = None
--
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