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<div class="title">Console.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2008, Willow Garage, Inc.</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Willow Garage nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/util/Console.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <boost/thread/mutex.hpp></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <iostream></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <cstdlib></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <cstdio></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <cstdarg></span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">static</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html" title="Default implementation of OutputHandler. This sends the information to the console.">ompl::msg::OutputHandlerSTD</a> DEFAULT_OUTPUT_HANDLER;
<a name="l00045"></a>00045 <span class="keyword">static</span> <a class="code" href="classompl_1_1msg_1_1OutputHandler.html" title="Generic class to handle output from a piece of code.">ompl::msg::OutputHandler</a> *OUTPUT_HANDLER = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1msg_1_1OutputHandler.html" title="Generic class to handle output from a piece of code.">ompl::msg::OutputHandler</a>*<span class="keyword">></span>(&DEFAULT_OUTPUT_HANDLER);
<a name="l00046"></a>00046 <span class="keyword">static</span> <a class="code" href="classompl_1_1msg_1_1OutputHandler.html" title="Generic class to handle output from a piece of code.">ompl::msg::OutputHandler</a> *PREVIOUS_OH = OUTPUT_HANDLER;
<a name="l00047"></a>00047 <span class="keyword">static</span> boost::mutex LOCK; <span class="comment">// it is likely the outputhandler does some I/O, so we serialize it</span>
<a name="l00048"></a>00048
<a name="l00049"></a><a class="code" href="namespaceompl_1_1msg.html#a90cbd14492fec0d953082f4ce5721f3c">00049</a> <span class="keywordtype">void</span> <a class="code" href="namespaceompl_1_1msg.html#a90cbd14492fec0d953082f4ce5721f3c" title="This function instructs ompl that no messages should be outputted. Equivalent to setOutputHandler(NUL...">ompl::msg::noOutputHandler</a>(<span class="keywordtype">void</span>)
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 LOCK.lock();
<a name="l00052"></a>00052 PREVIOUS_OH = OUTPUT_HANDLER;
<a name="l00053"></a>00053 OUTPUT_HANDLER = NULL;
<a name="l00054"></a>00054 LOCK.unlock();
<a name="l00055"></a>00055 }
<a name="l00056"></a>00056
<a name="l00057"></a><a class="code" href="namespaceompl_1_1msg.html#add51f5be665288ddbb3be7e372b5f31d">00057</a> <span class="keywordtype">void</span> <a class="code" href="namespaceompl_1_1msg.html#add51f5be665288ddbb3be7e372b5f31d" title="Restore the output handler that was previously in use (if any)">ompl::msg::restorePreviousOutputHandler</a>(<span class="keywordtype">void</span>)
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 LOCK.lock();
<a name="l00060"></a>00060 std::swap(PREVIOUS_OH, OUTPUT_HANDLER);
<a name="l00061"></a>00061 LOCK.unlock();
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063
<a name="l00064"></a><a class="code" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">00064</a> <span class="keywordtype">void</span> <a class="code" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b" title="Specify the instance of the OutputHandler to use. By default, this is OutputHandlerSTD.">ompl::msg::useOutputHandler</a>(<a class="code" href="classompl_1_1msg_1_1OutputHandler.html" title="Generic class to handle output from a piece of code.">OutputHandler</a> *oh)
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 LOCK.lock();
<a name="l00067"></a>00067 PREVIOUS_OH = OUTPUT_HANDLER;
<a name="l00068"></a>00068 OUTPUT_HANDLER = oh;
<a name="l00069"></a>00069 LOCK.unlock();
<a name="l00070"></a>00070 }
<a name="l00071"></a>00071
<a name="l00072"></a><a class="code" href="namespaceompl_1_1msg.html#ac32f8f123774d2644538b9ce7ebd24e6">00072</a> <a class="code" href="classompl_1_1msg_1_1OutputHandler.html" title="Generic class to handle output from a piece of code.">ompl::msg::OutputHandler</a>* <a class="code" href="namespaceompl_1_1msg.html#ac32f8f123774d2644538b9ce7ebd24e6" title="Get the instance of the OutputHandler currently used. This is NULL in case there is no output handler...">ompl::msg::getOutputHandler</a>(<span class="keywordtype">void</span>)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <span class="keywordflow">return</span> OUTPUT_HANDLER;
<a name="l00075"></a>00075 }
<a name="l00076"></a>00076
<a name="l00077"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#a7f325616b8f360a624fbdea93dc5bb61">00077</a> <a class="code" href="classompl_1_1msg_1_1Interface.html#a7f325616b8f360a624fbdea93dc5bb61" title="The text that will appear in front of every message forwarded by this Interface instance can be optio...">ompl::msg::Interface::Interface</a>(<span class="keyword">const</span> std::string &prefix)
<a name="l00078"></a>00078 {
<a name="l00079"></a>00079 <a class="code" href="classompl_1_1msg_1_1Interface.html#a4dd5a3d384aa0cc95d86d258dea0e773" title="Set the text that will appear in front of every message forwarded by this Interface instance...">setPrefix</a>(prefix);
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081
<a name="l00082"></a>00082 ompl::msg::Interface::~Interface(<span class="keywordtype">void</span>)
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085
<a name="l00086"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#a4d93430824c4e4bc1bab80c6648b908b">00086</a> <span class="keyword">const</span> std::string& <a class="code" href="classompl_1_1msg_1_1Interface.html#a4d93430824c4e4bc1bab80c6648b908b" title="Get the text that appears in front of every forwarded message.">ompl::msg::Interface::getPrefix</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00087"></a>00087 <span class="keyword"></span>{
<a name="l00088"></a>00088 <span class="keywordflow">return</span> prefix_;
<a name="l00089"></a>00089 }
<a name="l00090"></a>00090
<a name="l00091"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#a4dd5a3d384aa0cc95d86d258dea0e773">00091</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#a4dd5a3d384aa0cc95d86d258dea0e773" title="Set the text that will appear in front of every message forwarded by this Interface instance...">ompl::msg::Interface::setPrefix</a>(<span class="keyword">const</span> std::string &prefix)
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 prefix_ = prefix;
<a name="l00094"></a>00094 <span class="keywordflow">if</span> (!prefix_.empty())
<a name="l00095"></a>00095 prefix_ += <span class="stringliteral">": "</span>;
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="comment">// the maximum buffer size to use when printing a message</span>
<a name="l00099"></a>00099 <span class="preprocessor">#define MAX_BUFFER_SIZE 1024</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span>
<a name="l00101"></a>00101 <span class="comment">// macro that combines the set of arguments into a single string</span>
<a name="l00102"></a>00102 <span class="preprocessor">#define COMBINE(m, buf, size) \</span>
<a name="l00103"></a>00103 <span class="preprocessor"> va_list __ap; \</span>
<a name="l00104"></a>00104 <span class="preprocessor"> va_start(__ap, m); \</span>
<a name="l00105"></a>00105 <span class="preprocessor"> char buf##_chr[size]; \</span>
<a name="l00106"></a>00106 <span class="preprocessor"> vsnprintf(buf##_chr, sizeof(buf##_chr), m, __ap); \</span>
<a name="l00107"></a>00107 <span class="preprocessor"> va_end(__ap); \</span>
<a name="l00108"></a>00108 <span class="preprocessor"> buf##_chr[size - 1] = '\0'; \</span>
<a name="l00109"></a>00109 <span class="preprocessor"> std::string buf(buf##_chr)</span>
<a name="l00110"></a>00110 <span class="preprocessor"></span>
<a name="l00111"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#ad690e77cfd4c31b55cd221ed9c8ee94e">00111</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#ad690e77cfd4c31b55cd221ed9c8ee94e" title="Forward a debug message.">ompl::msg::Interface::debug</a>(<span class="keyword">const</span> std::string &text)<span class="keyword"> const</span>
<a name="l00112"></a>00112 <span class="keyword"></span>{
<a name="l00113"></a>00113 <span class="keywordflow">if</span> (OUTPUT_HANDLER)
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115 LOCK.lock();
<a name="l00116"></a>00116 OUTPUT_HANDLER-><a class="code" href="classompl_1_1msg_1_1OutputHandler.html#a1edbcf5d9323ca70699e883bfa4d4d14" title="Print a debug message.">debug</a>(prefix_ + text);
<a name="l00117"></a>00117 LOCK.unlock();
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120
<a name="l00121"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#a09d30f9199fd238fbee9cdc355c4174b">00121</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#ad690e77cfd4c31b55cd221ed9c8ee94e" title="Forward a debug message.">ompl::msg::Interface::debug</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *msg, ...)<span class="keyword"> const</span>
<a name="l00122"></a>00122 <span class="keyword"></span>{
<a name="l00123"></a>00123 COMBINE(msg, buf, MAX_BUFFER_SIZE);
<a name="l00124"></a>00124 debug(buf);
<a name="l00125"></a>00125 }
<a name="l00126"></a>00126
<a name="l00127"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#a545368346a008e4de3ea44ce21daccd5">00127</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#a545368346a008e4de3ea44ce21daccd5" title="Forward information.">ompl::msg::Interface::inform</a>(<span class="keyword">const</span> std::string &text)<span class="keyword"> const</span>
<a name="l00128"></a>00128 <span class="keyword"></span>{
<a name="l00129"></a>00129 <span class="keywordflow">if</span> (OUTPUT_HANDLER)
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131 LOCK.lock();
<a name="l00132"></a>00132 OUTPUT_HANDLER-><a class="code" href="classompl_1_1msg_1_1OutputHandler.html#af8bc4eaa908723fbcf266a266914c431" title="Print some information: "Information: ....".">inform</a>(prefix_ + text);
<a name="l00133"></a>00133 LOCK.unlock();
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136
<a name="l00137"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#a1f39f245bd2cb40362c85f416004db3e">00137</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#a545368346a008e4de3ea44ce21daccd5" title="Forward information.">ompl::msg::Interface::inform</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *msg, ...)<span class="keyword"> const</span>
<a name="l00138"></a>00138 <span class="keyword"></span>{
<a name="l00139"></a>00139 COMBINE(msg, buf, MAX_BUFFER_SIZE);
<a name="l00140"></a>00140 inform(buf);
<a name="l00141"></a>00141 }
<a name="l00142"></a>00142
<a name="l00143"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#a15876ea668c0bf423cc416d96526fa18">00143</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#a15876ea668c0bf423cc416d96526fa18" title="Forward a warning.">ompl::msg::Interface::warn</a>(<span class="keyword">const</span> std::string &text)<span class="keyword"> const</span>
<a name="l00144"></a>00144 <span class="keyword"></span>{
<a name="l00145"></a>00145 <span class="keywordflow">if</span> (OUTPUT_HANDLER)
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 LOCK.lock();
<a name="l00148"></a>00148 OUTPUT_HANDLER-><a class="code" href="classompl_1_1msg_1_1OutputHandler.html#a1a48486ac947c22e0ad1b640528f2459" title="Print an warning message: "Warning: ....".">warn</a>(prefix_ + text);
<a name="l00149"></a>00149 LOCK.unlock();
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152
<a name="l00153"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#a3b828cfba790e44810784dc1ef1cb0a1">00153</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#a15876ea668c0bf423cc416d96526fa18" title="Forward a warning.">ompl::msg::Interface::warn</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *msg, ...)<span class="keyword"> const</span>
<a name="l00154"></a>00154 <span class="keyword"></span>{
<a name="l00155"></a>00155 COMBINE(msg, buf, MAX_BUFFER_SIZE);
<a name="l00156"></a>00156 warn(buf);
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158
<a name="l00159"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#ab9c7d9a3fd8a6358e6d8e27c73a52575">00159</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#ab9c7d9a3fd8a6358e6d8e27c73a52575" title="Forward an error.">ompl::msg::Interface::error</a>(<span class="keyword">const</span> std::string &text)<span class="keyword"> const</span>
<a name="l00160"></a>00160 <span class="keyword"></span>{
<a name="l00161"></a>00161 <span class="keywordflow">if</span> (OUTPUT_HANDLER)
<a name="l00162"></a>00162 {
<a name="l00163"></a>00163 LOCK.lock();
<a name="l00164"></a>00164 OUTPUT_HANDLER-><a class="code" href="classompl_1_1msg_1_1OutputHandler.html#a68bdead4da58e46397c53a42761a828a" title="Print an error message: "Error: ....".">error</a>(prefix_ + text);
<a name="l00165"></a>00165 LOCK.unlock();
<a name="l00166"></a>00166 }
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168
<a name="l00169"></a><a class="code" href="classompl_1_1msg_1_1Interface.html#acb1538566045b21a29d1451416a22e53">00169</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1Interface.html#ab9c7d9a3fd8a6358e6d8e27c73a52575" title="Forward an error.">ompl::msg::Interface::error</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *msg, ...)<span class="keyword"> const</span>
<a name="l00170"></a>00170 <span class="keyword"></span>{
<a name="l00171"></a>00171 COMBINE(msg, buf, MAX_BUFFER_SIZE);
<a name="l00172"></a>00172 error(buf);
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174
<a name="l00175"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a421445881af30c0433f5d904d9310947">00175</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a421445881af30c0433f5d904d9310947" title="Print an error message: "Error: ....".">ompl::msg::OutputHandlerSTD::error</a>(<span class="keyword">const</span> std::string &text)
<a name="l00176"></a>00176 {
<a name="l00177"></a>00177 std::cerr << <span class="stringliteral">"Error: "</span> << text << std::endl;
<a name="l00178"></a>00178 std::cerr.flush();
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180
<a name="l00181"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a93d900a5bb282c97b22604d30728abd4">00181</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a93d900a5bb282c97b22604d30728abd4" title="Print an warning message: "Warning: ....".">ompl::msg::OutputHandlerSTD::warn</a>(<span class="keyword">const</span> std::string &text)
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183 std::cerr << <span class="stringliteral">"Warning: "</span> << text << std::endl;
<a name="l00184"></a>00184 std::cerr.flush();
<a name="l00185"></a>00185 }
<a name="l00186"></a>00186
<a name="l00187"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a2e1a7cd20a89cf43afd50c04cd179d4d">00187</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#a2e1a7cd20a89cf43afd50c04cd179d4d" title="Print some information: "Information: ....".">ompl::msg::OutputHandlerSTD::inform</a>(<span class="keyword">const</span> std::string &text)
<a name="l00188"></a>00188 {
<a name="l00189"></a>00189 std::cout << <span class="stringliteral">"Info: "</span> << text << std::endl;
<a name="l00190"></a>00190 std::cout.flush();
<a name="l00191"></a>00191 }
<a name="l00192"></a>00192
<a name="l00193"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#ad9b864c8c97e61eec3ff4a6be8019aeb">00193</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerSTD.html#ad9b864c8c97e61eec3ff4a6be8019aeb" title="Print a debug message.">ompl::msg::OutputHandlerSTD::debug</a>(<span class="keyword">const</span> std::string &text)
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195 std::cout << <span class="stringliteral">"Debug: "</span> << text << std::endl;
<a name="l00196"></a>00196 std::cout.flush();
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198
<a name="l00199"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#abc64dc38951bc6cb6e80756b6bf95e81">00199</a> <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#abc64dc38951bc6cb6e80756b6bf95e81" title="The name of the file in which to save the message data.">ompl::msg::OutputHandlerFile::OutputHandlerFile</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *filename) : <a class="code" href="classompl_1_1msg_1_1OutputHandler.html" title="Generic class to handle output from a piece of code.">OutputHandler</a>()
<a name="l00200"></a>00200 {
<a name="l00201"></a>00201 file_ = fopen(filename, <span class="stringliteral">"a"</span>);
<a name="l00202"></a>00202 <span class="keywordflow">if</span> (!file_)
<a name="l00203"></a>00203 std::cerr << <span class="stringliteral">"Unable to open log file: '"</span> << filename << <span class="stringliteral">"'"</span> << std::endl;
<a name="l00204"></a>00204 }
<a name="l00205"></a>00205
<a name="l00206"></a>00206 ompl::msg::OutputHandlerFile::~OutputHandlerFile(<span class="keywordtype">void</span>)
<a name="l00207"></a>00207 {
<a name="l00208"></a>00208 <span class="keywordflow">if</span> (file_)
<a name="l00209"></a>00209 <span class="keywordflow">if</span> (fclose(file_) != 0)
<a name="l00210"></a>00210 std::cerr << <span class="stringliteral">"Error closing logfile"</span> << std::endl;
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212
<a name="l00213"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#a4bbda6017feeb09141f7c84760c1e2db">00213</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#a4bbda6017feeb09141f7c84760c1e2db" title="Print an error message: "Error: ....".">ompl::msg::OutputHandlerFile::error</a>(<span class="keyword">const</span> std::string &text)
<a name="l00214"></a>00214 {
<a name="l00215"></a>00215 <span class="keywordflow">if</span> (file_)
<a name="l00216"></a>00216 {
<a name="l00217"></a>00217 fprintf(file_, <span class="stringliteral">"Error: %s\n"</span>, text.c_str());
<a name="l00218"></a>00218 fflush(file_);
<a name="l00219"></a>00219 }
<a name="l00220"></a>00220 }
<a name="l00221"></a>00221
<a name="l00222"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#a793c0ec6a3ceda9dbe7f9761f569eb66">00222</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#a793c0ec6a3ceda9dbe7f9761f569eb66" title="Print an warning message: "Warning: ....".">ompl::msg::OutputHandlerFile::warn</a>(<span class="keyword">const</span> std::string &text)
<a name="l00223"></a>00223 {
<a name="l00224"></a>00224 <span class="keywordflow">if</span> (file_)
<a name="l00225"></a>00225 {
<a name="l00226"></a>00226 fprintf(file_, <span class="stringliteral">"Warning: %s\n"</span>, text.c_str());
<a name="l00227"></a>00227 fflush(file_);
<a name="l00228"></a>00228 }
<a name="l00229"></a>00229 }
<a name="l00230"></a>00230
<a name="l00231"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#afa21cd1693072d82de823cbe0325fa18">00231</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#afa21cd1693072d82de823cbe0325fa18" title="Print some information: "Information: ....".">ompl::msg::OutputHandlerFile::inform</a>(<span class="keyword">const</span> std::string &text)
<a name="l00232"></a>00232 {
<a name="l00233"></a>00233 <span class="keywordflow">if</span> (file_)
<a name="l00234"></a>00234 {
<a name="l00235"></a>00235 fprintf(file_, <span class="stringliteral">"Info: %s\n"</span>, text.c_str());
<a name="l00236"></a>00236 fflush(file_);
<a name="l00237"></a>00237 }
<a name="l00238"></a>00238 }
<a name="l00239"></a>00239
<a name="l00240"></a><a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#a09dead4ba079b07e1ee5fd7b4fdb92c7">00240</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html#a09dead4ba079b07e1ee5fd7b4fdb92c7" title="Print a debug message.">ompl::msg::OutputHandlerFile::debug</a>(<span class="keyword">const</span> std::string &text)
<a name="l00241"></a>00241 {
<a name="l00242"></a>00242 <span class="keywordflow">if</span> (file_)
<a name="l00243"></a>00243 {
<a name="l00244"></a>00244 fprintf(file_, <span class="stringliteral">"Debug: %s\n"</span>, text.c_str());
<a name="l00245"></a>00245 fflush(file_);
<a name="l00246"></a>00246 }
<a name="l00247"></a>00247 }
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