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<div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="summary"> <a href="#groups">Modules</a> </div> <div class="headertitle"> <h1>Data logging<br/> <small> [<a class="el" href="group__tutorials.html">Tutorials</a>]</small> </h1> </div> </div> <div class="contents"> <p>Logging sensor data to files and playing it back. <a href="#_details">More...</a></p> <table class="memberdecls"> <tr><td colspan="2"><h2><a name="groups"></a> Modules</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__laser.html">laser format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>laser log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__ranger.html">ranger format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>ranger log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__localize.html">localize format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>localize log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__position.html">position2d format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>position2d log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__ptz.html">ptz format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>PTZ log format The format for each <a class="el" href="group__interface__wsn.html">wsn</a> message is:</p> <ul> <li>pan (float): The pan angle/value</li> <li>tilt (float): The tilt angle/value</li> <li>zoom (float): The zoom factor</li> <li>panspeed (float): The current panning speed</li> <li>tiltspeed (float): The current tilting speed. </li> </ul> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__opaque.html">opaque format</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__sonar.html">sonar format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>sonar log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__wifi.html">WiFi format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>wifi log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__wsn.html">WSN format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>WSN log format. </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__imu.html">IMU format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>IMU log format. </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__pointcloud3d.html">pointcloud3d format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>PointCloud3D log format. </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__actarray.html">actarray format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Actarray log format. </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__aio.html">aio format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>AIO log format. </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__dio.html">dio format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>DIO log format. </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__rfid.html">rfid format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>RFID log format. </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__blobfinder.html">Blobfinder format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>blobfinder log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__camera.html">Camera format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>camera data format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__fiducial.html">fiducial format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>fiducial log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__gps.html">GPS format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>gps log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__joystick.html">Joystick format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>joystick log format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__position3d.html">Position3d format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>position3d format </p> <br/></td></tr> </p> <tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__player__driver__writelog__power.html">Power format</a></td></tr> <p><tr><td class="mdescLeft"> </td><td class="mdescRight"><p>power log format </p> <br/></td></tr> </p> </table> <hr/><a name="_details"></a><h2>Detailed Description</h2> <p>Logging sensor data to files and playing it back. </p> <p>Two player drivers support data logging and playback: <a class="el" href="group__driver__readlog.html">readlog</a> and <a class="el" href="group__driver__writelog.html">writelog</a>. See the docs for those drivers for details on usage.</p> <p>Player log files have a simple text format. Messages are new-line separated, and any line beginning with a '#' is ignored. Every message line starts with common meta-data: </p> <div class="fragment"><pre class="fragment">time host robot interface index type subtype </pre></div><p>The fields are:</p> <ul> <li>time (double): Timestamp, in seconds, associated with the message</li> <li>host (uint): The 'host' part of the device's Player address</li> <li>robot (uint): The 'robot' part of the device's Player address</li> <li>interface (string): The 'interf' part of the device's Player address (written as a string)</li> <li>index (string): The 'index' part of the device's Player address</li> <li>type (uint): The type of the message</li> <li>subtype (uint): The subtype of the message</li> </ul> <p>Following this common meta-data is the message payload, the format of which will depend on the interface, type, and subtype. See the "Modules" section below for links to interface-specific message formats.</p> <p>By convention, configuration response messages such as geometry information are put at the beginning of the logfile. The <a class="el" href="group__driver__writelog.html">writelog</a> driver will try to get geometry and log it at the beginning of the file, and the <a class="el" href="group__driver__readlog.html">readlog</a> driver will read in configuration response messages from the file until a data message is encountered. </p> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>