00001
00005 #include <utils/Linear.h>
00006 #include <utils/ConfigFile.h>
00007
00008 #include "RoadLogger.h"
00009
00010 bool RoadLogger::open(const char* name,
00011 const utils::ConfigFile* user_header)
00012 {
00013 utils::ConfigFile header;
00014
00015
00016 if (user_header) {
00017 utils::ConfigFile::copy(*user_header, header);
00018 }
00019
00020
00021 header.setInt("int DataFormat.version_major", 1);
00022 header.setInt("int DataFormat.version_minor", 0);
00023
00024
00025 _logger.close();
00026
00027
00028 _logger.declare("points", ROAD_DATA_FMT, &_output_area);
00029
00030
00031 return _logger.open(name, header);
00032 }
00033
00034 bool RoadLogger::open(utils::ConfigFile& header)
00035 {
00036 return open(header.getString("name", "Road.raw"), &header);
00037 }
00038
00039 bool RoadLogger::logPoints(utils::Time time,
00040 const std::vector<utils::Vec3d>& points)
00041 {
00042
00043 _output_area.num_points = (int) points.size();
00044 _output_area.points = new RoadDataPoint[_output_area.num_points];
00045 for (int i=0;i<_output_area.num_points;i++) {
00046 _output_area.points[i].x = points[i].x;
00047 _output_area.points[i].y = points[i].y;
00048 _output_area.points[i].z = points[i].z;
00049 }
00050
00051
00052 bool res = _logger.log(time);
00053
00054
00055 delete [] _output_area.points;
00056
00057
00058 return res;
00059 }
00060