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authorTobias Klauser <tobias.klauser@uzh.ch>2013-01-28 16:15:50 +0100
committerTobias Klauser <tklauser@distanz.ch>2013-01-28 16:33:08 +0100
commitd2fb8067167785b299482d247aaf90a35f55b62c (patch)
treed12fc756e9fecf935cbc46e1d6a3f89895868049 /LocomotorPrimitivesController.cpp
parente5e089fe6c136d3962a066f9a8c7b56009459b16 (diff)
LocomotorPrimitives: Switch to using Logger class for logging
Diffstat (limited to 'LocomotorPrimitivesController.cpp')
-rw-r--r--LocomotorPrimitivesController.cpp14
1 files changed, 6 insertions, 8 deletions
diff --git a/LocomotorPrimitivesController.cpp b/LocomotorPrimitivesController.cpp
index 27ac205..0bdaf81 100644
--- a/LocomotorPrimitivesController.cpp
+++ b/LocomotorPrimitivesController.cpp
@@ -2,14 +2,11 @@
#include "LocomotorPrimitivesController.h"
-#define VERBOSE 1
-
-// XXX
-extern clock_t ts_start;
-
static const double TIME_DAMP = 0.1;
static const unsigned int N_PRINT = 1000;
+static Logger &logger = Logger::getInstance();
+
int LocomotorPrimitivesController::checkControls()
{
const int act_set_siz = getActuatorSet().getSize();
@@ -22,7 +19,7 @@ int LocomotorPrimitivesController::checkControls()
const OpenSim::Array<int> indices = _act.getColumnIndicesForIdentifier(muscle->getName());
if (indices.getSize() == 0) {
- std::cerr << "Error: no actuation data for muscle '" << muscle->getName() << "' found" << std::endl;
+ logger.err("no actuation data for muscle '%s' found\n", muscle->getName().c_str());
ret--;
}
}
@@ -52,10 +49,11 @@ void LocomotorPrimitivesController::computeControls(const SimTK::State &s, SimTK
if (indices.getSize() != 0) {
int idx = indices.get(0) - 1;
if (n % N_PRINT == 0)
- std::cout << "[" << (1.e3 * clock() - ts_start) / CLOCKS_PER_SEC << "ms] " << t << " (" << idx << ") actuation data for '" << muscle->getName() << "' found: " << _muscle_act[idx] << std::endl;
+ logger.log("%f (%d) actuation data for muscle '%s' found: %f\n",
+ t, idx, muscle->getName().c_str(), _muscle_act[idx]);
if (_muscle_act[idx] > 1.0) {
- std::cerr << "Error: muscle actuation larger than 1.0 (" << _muscle_act[idx] << "), truncating" << std::endl;
+ logger.err("muscle actuation larger than 1.0 (%f), truncating to 1.0\n", _muscle_act[idx]);
_muscle_act[idx] = 1.0;
}