Ejemplo n.º 1
0
	void set_buffer_loader(EASYRPG_SHARED_PTR<buffer_loader> const &l) {
		SET_CONTEXT(ctx_);
		alSourceStop(src_);
		alSourcei(src_, AL_BUFFER, AL_NONE);

		if (not l) {
			loader_.reset();
			return;
		}

		ALint unqueuing_count;
		alGetSourceiv(src_, AL_BUFFERS_QUEUED, &unqueuing_count);
		std::vector<ALuint> unqueued(unqueuing_count);
		alSourceUnqueueBuffers(src_, unqueuing_count, &unqueued.front());

		loader_ = l;
		int queuing_count = 0;
		BOOST_ASSERT(not l->is_end());
		ticks_.push_back(0);
		for (; queuing_count < BUFFER_NUMBER; ++queuing_count) {
			buf_sizes_.push_back(loader_->load_buffer(buffers_[queuing_count]));
			ticks_.push_back(loader_->midi_ticks());

			if (loader_->is_end()) {
				queuing_count++;
				break;
			}
		}
		alSourceQueueBuffers(src_, queuing_count, buffers_.data());
		alSourcePlay(src_);
	}
void WaypointVelocityVisualizer::controlCallback(const geometry_msgs::PoseStamped::ConstPtr& current_pose_msg,
                                                 const geometry_msgs::TwistStamped::ConstPtr& current_twist_msg,
                                                 const geometry_msgs::TwistStamped::ConstPtr& command_twist_msg)
{
  // buffers are reset when time goes back, e.g. playback rosbag
  ros::Time current_time = ros::Time::now();
  if (previous_time_ > current_time)
  {
    ROS_WARN("Detected jump back in time of %.3fs. Clearing markers and buffers.",
             (previous_time_ - current_time).toSec());
    deleteMarkers();  // call 'DELETEALL'
    resetBuffers();   // clear circular buffers
  }
  previous_time_ = current_time;
  // if plot_metric_interval <= 0, velocity is plotted by each callback.
  if (plot_metric_interval_ > 0 && current_pose_buf_.size() > 0)
  {
    tf::Vector3 p1, p2;
    tf::pointMsgToTF(current_pose_buf_.back().pose.position, p1);
    tf::pointMsgToTF(current_pose_msg->pose.position, p2);
    if (!(p1.distance(p2) > plot_metric_interval_))
      return;  // skipping plot
  }
  current_pose_buf_.push_back(*current_pose_msg);
  current_twist_buf_.push_back(*current_twist_msg);
  command_twist_buf_.push_back(*command_twist_msg);
  current_twist_marker_array_.markers.clear();
  command_twist_marker_array_.markers.clear();
  createVelocityMarker(current_pose_buf_, current_twist_buf_, "current_velocity", current_twist_color_,
                       current_twist_marker_array_);
  createVelocityMarker(current_pose_buf_, command_twist_buf_, "twist_cmd", command_twist_color_,
                       command_twist_marker_array_);
  publishVelocityMarker();
}
Ejemplo n.º 3
0
	void update() {
		ALint processed;
		alGetSourceiv(src_, AL_BUFFERS_PROCESSED, &processed);
		std::vector<ALuint> unqueued(processed);
		alSourceUnqueueBuffers(src_, processed, &unqueued.front());
		int queuing_count = 0;
		for (; queuing_count < processed; ++queuing_count) {
			if (not loop_play_ and loader_->is_end()) {
				loader_.reset();
				++queuing_count;
				break;
			}

			if (loader_->is_end()) {
				ticks_.push_back(0);
			}
			buf_sizes_.push_back(loader_->load_buffer(unqueued[queuing_count]));
			ticks_.push_back(loader_->midi_ticks());
		}
		alSourceQueueBuffers(src_, queuing_count, &unqueued.front());

		if (fade_milli_ != 0) {
			SET_CONTEXT(ctx_);
			loop_count_++;

			if (fade_ended()) {
				alSourceStop(src_);
			} else {
				alSourcef(src_, AL_GAIN, current_volume());
			}
		}
	}
Ejemplo n.º 4
0
  /** Try to write a value to the pipe

      \param[in] value is what we want to write

      \param[in] blocking specify if the call wait for the operation
      to succeed

      \return true on success

      \todo provide a && version
  */
  bool write(const T &value, bool blocking = false) {
    // Lock the pipe to avoid being disturbed
    std::unique_lock<std::mutex> ul { cb_mutex };
    TRISYCL_DUMP_T("Write pipe full = " << full()
                   << " value = " << value);

    if (blocking)
      /* If in blocking mode, wait for the not full condition, that
         may be changed when a read is done */
      read_done.wait(ul, [&] { return !full(); });
    else if (full())
      return false;

    cb.push_back(value);
    TRISYCL_DUMP_T("Write pipe front = " << cb.front()
                   << " back = " << cb.back()
                   << " cb.begin() = " << (void *)&*cb.begin()
                   << " cb.size() = " << cb.size()
                   << " cb.end() = " << (void *)&*cb.end()
                   << " reserved_for_reading() = " << reserved_for_reading()
                   << " reserved_for_writing() = " << reserved_for_writing());
    // Notify the clients waiting to read something from the pipe
    write_done.notify_all();
    return true;
  }
Ejemplo n.º 5
0
bool PythonServer::LoadChatHistory(boost::circular_buffer<ChatHistoryEntity>& chat_history) {
    boost::python::object chat_provider = m_python_module_chat.attr("__dict__")["chat_history_provider"];
    if (!chat_provider) {
        ErrorLogger() << "Unable to get Python object chat_history_provider";
        return false;
    }
    boost::python::object f = chat_provider.attr("load_history");
    if (!f) {
        ErrorLogger() << "Unable to call Python method load_history";
        return false;
    }
    boost::python::object r = f();
    boost::python::extract<list> py_history(r);
    if (py_history.check()) {
        boost::python::stl_input_iterator<boost::python::tuple> entity_begin(py_history), entity_end;
        for (auto& it = entity_begin; it != entity_end; ++ it) {
            ChatHistoryEntity e;
            e.m_timestamp = boost::posix_time::from_time_t(boost::python::extract<time_t>((*it)[0]));;
            e.m_player_name = boost::python::extract<std::string>((*it)[1]);
            e.m_text = boost::python::extract<std::string>((*it)[2]);
            e.m_text_color = boost::python::extract<GG::Clr>((*it)[3]);
            chat_history.push_back(e);
        }
    }

    return true;
}
Ejemplo n.º 6
0
	void render(sf::RenderTarget& target)
	{
		float dx = 1.0f/static_cast<float>(line_data_.capacity());
		float x = static_cast<float>(line_data_.capacity()-line_data_.size())*dx;

		line_data_.push_back(std::make_pair(tick_data_, tick_tag_));		
		tick_tag_   = false;
				
		glBegin(GL_LINE_STRIP);
		auto c = color(color_);
		glColor4f(std::get<0>(c), std::get<1>(c), std::get<2>(c), 0.8f);		
		for(size_t n = 0; n < line_data_.size(); ++n)		
			if(line_data_[n].first > -0.5)
				glVertex3d(x+n*dx, std::max(0.05, std::min(0.95, (1.0f-line_data_[n].first)*0.8 + 0.1f)), 0.0);		
		glEnd();
				
		glEnable(GL_LINE_STIPPLE);
		glLineStipple(3, 0xAAAA);
		for(size_t n = 0; n < line_data_.size(); ++n)
		{
			if(line_data_[n].second)
			{
				glBegin(GL_LINE_STRIP);			
					glVertex3f(x+n*dx, 0.0f, 0.0f);				
					glVertex3f(x+n*dx, 1.0f, 0.0f);		
				glEnd();
			}
		}
		glDisable(GL_LINE_STIPPLE);
	}
Ejemplo n.º 7
0
void odomCallback (nav_msgs::Odometry odomPoseMsg)
{
    pair<geometry_msgs::Pose, ros::Time> next;
    next.first = odomPoseMsg.pose.pose;
    next.second = odomPoseMsg.header.stamp;
    cb.push_back (next);
    current = next;
}
Ejemplo n.º 8
0
	line(size_t res = 1200)
		: line_data_(res)
	{
		tick_data_	= -1.0f;
		color_		= 0xFFFFFFFF;
		tick_tag_	= false;

		line_data_.push_back(std::make_pair(-1.0f, false));
	}
Ejemplo n.º 9
0
bool 
MapsBuffer::pushBack(boost::shared_ptr<const MapsRgb> maps_rgb )
{
  bool retVal = false;
  {
    boost::mutex::scoped_lock buff_lock (bmutex_);
    if (!buffer_.full ())
      retVal = true;
    buffer_.push_back (maps_rgb);
  }
  buff_empty_.notify_one ();
  return (retVal);
}
Ejemplo n.º 10
0
    void scan(std::istream& stream, std::function<void (const std::string &, int, size_t)> fun) {
      auto line_number = 0;
      for (std::string line; std::getline(stream, line);) {
	line_number++;
	metrics.lines_scanned++;
	if (line.length() > 0) {
	  buffer.push_back(line);
	  if (buffer.full()) {
	    emit_block(line_number, fun);
	  }
	} 
      }
    }
Ejemplo n.º 11
0
void put(int x) {
    for(auto i=0;i<x;i++) {
        unique_lock<mutex> locker(m_mutex);
        while(Q.full())
            empty.wait(locker);
        assert(!Q.full());

        Q.push_back(i);
        cout << "@ "<< i <<endl;
        full.notify_all();
    }
    flag = false;
}
Ejemplo n.º 12
0
bool 
PCDBuffer::pushBack (pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr cloud)
{
	bool retVal = false;
	{
		boost::mutex::scoped_lock buff_lock (bmutex_);
		if (!buffer_.full ())
			retVal = true;
		buffer_.push_back (cloud);
	}
	buff_empty_.notify_one ();
	return (retVal);
}
Ejemplo n.º 13
0
 bool fillOne()
 {
   int ch = super_t::read();
   if (ch<0) {
     // EOF reached --> cannot be filled
     //m_bReady = false;
     m_bEOF = true;
     return false;
   }
   if (!checkMatch(ch))
     return false;
   m_cbuf.push_back((unsigned char)ch);
   return true;
 }
Ejemplo n.º 14
0
int main(int argc, char* argv[])
{
    v_circular_buffer_2.push_back(1);
    v_circular_buffer_2.push_back(4);

    MyClass tmp(x);
    v_intrusive_set_2.insert(tmp);

    MyClass_list tmp_list(x);
    v_intrusive_list_2.push_front(tmp_list);

    int r = done();  // break here
    r += argc + (char)argv[0][0];
    return r % 2;
}
Ejemplo n.º 15
0
//TODO: change this a lot!
void updateGyroState(sensor_msgs::Imu& imuMsg, packet_t rxPkt, boost::circular_buffer<float>& calibration)
{
    uint8_t gyro_adc = rxPkt.payload[0];
    double current_time = ros::Time::now().toSec();
    double last_time = imuMsg.header.stamp.toSec();

    if (!isMoving) {
        calibration.push_back(float(gyro_adc));
        double total = 0;
        BOOST_FOREACH( float reading, calibration )
        {
            total += reading;
        }
        cal_offset = total / calibration.size(); 
    }
Ejemplo n.º 16
0
	virtual boost::unique_future<bool> send(const safe_ptr<read_frame>& frame) override
	{		
		if(audio_cadence_.size() == 1)
			return consumer_->send(frame);

		boost::unique_future<bool> result = caspar::wrap_as_future(true);
		
		if(boost::range::equal(sync_buffer_, audio_cadence_) && audio_cadence_.front() * frame->num_channels() == static_cast<size_t>(frame->audio_data().size()))
		{	
			// Audio sent so far is in sync, now we can send the next chunk.
			result = consumer_->send(frame);
			boost::range::rotate(audio_cadence_, std::begin(audio_cadence_)+1);
		}
		else
			CASPAR_LOG(trace) << print() << L" Syncing audio.";

		sync_buffer_.push_back(static_cast<size_t>(frame->audio_data().size() / frame->num_channels()));
		
		return std::move(result);
	}
Ejemplo n.º 17
0
	virtual bool OnGetData(sf::SoundStream::Chunk& data) override
	{		
		win32_exception::ensure_handler_installed_for_thread(
				"sfml-audio-thread");
		std::pair<std::shared_ptr<core::read_frame>, std::shared_ptr<audio_buffer_16>> audio_data;

		input_.pop(audio_data); // Block until available

		graph_->set_value("tick-time", perf_timer_.elapsed()*format_desc_.fps*0.5);		
		perf_timer_.restart();

		container_.push_back(std::move(*audio_data.second));
		data.Samples = container_.back().data();
		data.NbSamples = container_.back().size();	
		

		if (audio_data.first)
			presentation_age_ = audio_data.first->get_age_millis();

		return is_running_;
	}
Ejemplo n.º 18
0
  /** Reserve some part of the pipe for writing

      \param[in] s is the number of element to reserve

      \param[out] rid is an iterator to a description of the
      reservation that has been done if successful

      \param[in] blocking specify if the call wait for the operation
      to succeed

      \return true if the reservation was successful
  */
  bool reserve_write(std::size_t s,
                     rid_iterator &rid,
                     bool blocking = false)  {
    // Lock the pipe to avoid being disturbed
    std::unique_lock<std::mutex> ul { cb_mutex };

    TRISYCL_DUMP_T("Before write reservation cb.size() = " << cb.size()
                   << " size() = " << size());
    if (s == 0)
      // Empty reservation requested, so nothing to do
      return false;

    if (blocking)
      /* If in blocking mode, wait for enough room in the pipe, that
         may be changed when a read is done. Do not use a difference
         here because it is only about unsigned values */
      read_done.wait(ul, [&] { return cb.size() + s <= capacity(); });
    else if (cb.size() + s > capacity())
      // Not enough room in the pipe for the reservation
      return false;

    /* If there is enough room in the pipe, just create default values
         in it to do the reservation */
    for (std::size_t i = 0; i != s; ++i)
      cb.push_back();
    /* Compute the location of the first element a posteriori since it
         may not exist a priori if cb was empty before */
    auto first = cb.end() - s;
    /* Add a description of the reservation at the end of the
       reservation queue */
    w_rid_q.emplace_back(first, s);
    // Return the iterator to the last reservation descriptor
    rid = w_rid_q.end() - 1;
    TRISYCL_DUMP_T("After reservation cb.size() = " << cb.size()
                   << " size() = " << size());
    return true;
  }
Ejemplo n.º 19
0
	virtual HRESULT STDMETHODCALLTYPE VideoInputFrameArrived(IDeckLinkVideoInputFrame* video, IDeckLinkAudioInputPacket* audio)
	{	
		if(!video)
			return S_OK;

		try
		{
			graph_->set_value("tick-time", tick_timer_.elapsed()*format_desc_.fps*0.5);
			tick_timer_.restart();

			frame_timer_.restart();

			// PUSH

			void* bytes = nullptr;
			if(FAILED(video->GetBytes(&bytes)) || !bytes)
				return S_OK;
			
			safe_ptr<AVFrame> av_frame(avcodec_alloc_frame(), av_free);	
			avcodec_get_frame_defaults(av_frame.get());
						
			av_frame->data[0]			= reinterpret_cast<uint8_t*>(bytes);
			av_frame->linesize[0]		= video->GetRowBytes();			
			av_frame->format			= PIX_FMT_UYVY422;
			av_frame->width				= video->GetWidth();
			av_frame->height			= video->GetHeight();
			av_frame->interlaced_frame	= format_desc_.field_mode != core::field_mode::progressive;
			av_frame->top_field_first	= format_desc_.field_mode == core::field_mode::upper ? 1 : 0;
				
			std::shared_ptr<core::audio_buffer> audio_buffer;

			// It is assumed that audio is always equal or ahead of video.
			if(audio && SUCCEEDED(audio->GetBytes(&bytes)) && bytes)
			{
				auto sample_frame_count = audio->GetSampleFrameCount();
				auto audio_data = reinterpret_cast<int32_t*>(bytes);
				audio_buffer = std::make_shared<core::audio_buffer>(audio_data, audio_data + sample_frame_count*format_desc_.audio_channels);
			}
			else			
				audio_buffer = std::make_shared<core::audio_buffer>(audio_cadence_.front(), 0);
			
			// Note: Uses 1 step rotated cadence for 1001 modes (1602, 1602, 1601, 1602, 1601)
			// This cadence fills the audio mixer most optimally.

			sync_buffer_.push_back(audio_buffer->size());		
			if(!boost::range::equal(sync_buffer_, audio_cadence_))
			{
				CASPAR_LOG(trace) << print() << L" Syncing audio.";
				return S_OK;
			}

			muxer_.push(audio_buffer);
			muxer_.push(av_frame, hints_);	
											
			boost::range::rotate(audio_cadence_, std::begin(audio_cadence_)+1);
			
			// POLL
			
			for(auto frame = muxer_.poll(); frame; frame = muxer_.poll())
			{
				if(!frame_buffer_.try_push(make_safe_ptr(frame)))
				{
					auto dummy = core::basic_frame::empty();
					frame_buffer_.try_pop(dummy);

					frame_buffer_.try_push(make_safe_ptr(frame));

					graph_->set_tag("dropped-frame");
				}
			}

			graph_->set_value("frame-time", frame_timer_.elapsed()*format_desc_.fps*0.5);

			graph_->set_value("output-buffer", static_cast<float>(frame_buffer_.size())/static_cast<float>(frame_buffer_.capacity()));	
		}
		catch(...)
		{
			exception_ = std::current_exception();
			return E_FAIL;
		}

		return S_OK;
	}
Ejemplo n.º 20
0
    void pointsCallback(const sensor_msgs::PointCloud2ConstPtr& input)
    {
        
        if (count >= 0)
        {
            counter++;
            pcl::PointCloud<pcl::PointXYZRGB> input_cloud;
			pcl::fromROSMsg (*input, input_cloud);
			pcl::PointCloud<pcl::PointXYZRGB>::Ptr input_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
			*input_cloud_ptr = input_cloud;
            count = 0;
            if (firstTime == true)
	    	{
		    	//Create a standard map object
				m->setVerbose(true);		//Set the map to give text output
				m->loadCalibrationWords(bow_path,"orb", 500);	//set bag of words to orb 500 orb features from bow_path
				m->setFeatureExtractor(new OrbExtractor());		//Use orb features
				int max_points = 300;							//Number of keypoints used by matcher
				int nr_iter = 8;								//Number of iterations the matcher will run
				float shrinking = 0.7;							//The rate of convergence for the matcher
				float bow_threshold = 0.15;						//Bag of words threshold to avoid investigating bad matches
				float distance_threshold = 0.015;				//Distance threshold to discard bad matches using euclidean information.
				float feature_threshold = 0.15;					//Feature threshold to discard bad matches using feature information.
				m->setMatcher(new BowAICK(max_points, nr_iter,shrinking,bow_threshold,distance_threshold,feature_threshold));//Create a new matcher
				firstTime = false;
				vector< RGBDFrame * > frames;  
				m->addFrame(input_cloud_ptr); 		
	    	}
	    	else
	    	{
		    	
				printf("----------------------%i-------------------\nadding a new frame\n",counter);
				//Add frame to map
				m->addFrame(input_cloud_ptr);
				nrMatches = m->numberOfMatchesInLastFrame();
				int hej = m->numberOfFrames();
				/*float time = (input->header.stamp - lastCloudTime).toSec();
				xSpeed = (lastTransformationMatrix.front()(0,3) - transformationMatrix.front()(0,3))/time;
				ySpeed = (lastTransformationMatrix.front()(1,3) - transformationMatrix.front()(1,3))/time;
				zSpeed = (lastTransformationMatrix.front()(2,3) - transformationMatrix.front()(2,3))/time;
				//cout << time << " HEJ" << endl;*/
				if ((nrMatches < 40 and hej > 2)) //or xSpeed > 1.3 or ySpeed > 1.3 or zSpeed > 1.3)
				{
					
					cout << "BAD MATCH" << endl << endl << endl;
					m->removeLastFrame();
					badcount ++;
					//cout << lastPoses.front().pose.position.x << endl;

					
					pose.header.stamp = ros::Time::now();
					pose.header.frame_id = "local_origin";
					pose.pose.position.x = lastPoses.at(2).pose.position.x + (lastPoses.at(2).pose.position.x - lastPoses.at(1).pose.position.x);
					pose.pose.position.y = lastPoses.at(2).pose.position.y + (lastPoses.at(2).pose.position.y - lastPoses.at(1).pose.position.y);
					pose.pose.position.z = lastPoses.at(2).pose.position.z + (lastPoses.at(2).pose.position.z - lastPoses.at(1).pose.position.z);
					pose.pose.orientation.x = lastPoses.at(2).pose.orientation.x; //lastLocalPose.pose.orientation.x; //q.x();
					pose.pose.orientation.y = lastPoses.at(2).pose.orientation.y; //lastLocalPose.pose.orientation.y; //q.y();
					pose.pose.orientation.z = lastPoses.at(2).pose.orientation.z; //lastLocalPose.pose.orientation.z; //q.z();
					pose.pose.orientation.w = lastPoses.at(2).pose.orientation.w; //lastLocalPose.pose.orientation.w; //q.w();
					//pub_Pose.publish(pose);
					pub_Pose.publish(pose);
				}
				else
				{
					//transformationMatrix = m->estimateCurrentPose(lastTransformationMatrix);
					transformationMatrix = m->estimateCurrentPose(lastTransformationMatrix);
					//cout << transformationMatrix.front() << endl << endl;
					
					lastTransformationMatrix = transformationMatrix;
					transformationMatrix.front() = frameConversionMat*transformationMatrix.front();
					//Convert rotation matrix to quaternion
					tf::Matrix3x3 rotationMatrix;
    				rotationMatrix.setValue(transformationMatrix.front()(0,0), transformationMatrix.front()(0,1),transformationMatrix.front()(0,2),
    					transformationMatrix.front()(1,0), transformationMatrix.front()(1,1),transformationMatrix.front()(1,2),
                        transformationMatrix.front()(2,0), transformationMatrix.front()(2,1),transformationMatrix.front()(2,2) );
					
					tf::Quaternion q;
    				rotationMatrix.getRotation(q);
					//tf::Transform transform;
					//transform.setOrigin(tf::Vector3(transformationMatrix.front()(0,3), transformationMatrix.front()(1,3), transformationMatrix.front()(2,3)));
					
					//publish pose
					//geometry_msgs::PoseStamped pose;
					
					pose.header.stamp = input->header.stamp;
					pose.header.frame_id = "local_origin";
					pose.pose.position.x = transformationMatrix.front()(0,3);
					pose.pose.position.y = transformationMatrix.front()(1,3);
					pose.pose.position.z = transformationMatrix.front()(2,3);
					pose.pose.orientation.x = q.x(); //
					pose.pose.orientation.y = q.y(); //
					pose.pose.orientation.z = q.z(); //
					pose.pose.orientation.w = q.w(); // 
					pub_Pose.publish(pose);
				}
				//pub_transform.sendTransform(tf::StampedTransform(transform, now, "map", "robot"));
				//ros::Time now(0);
				/*while (!tfl.waitForTransform("local_origin", "camera_link", now, ros::Duration(1)))
            		ROS_ERROR("Couldn't find transform from 'camera_link' to 'local_origin', retrying...");
            	geometry_msgs::PoseStamped local_origin_pose;
            	tfl.transformPose("local_origin", now, pose, "camera_link", local_origin_pose);*/
				//pub_Pose.publish(pose);
				//pub_Pose_test.publish(pose);
				lastMatches = nrMatches;
				lastPoses.push_back(pose);
				lastCloudTime = input->header.stamp;
			}
		}
        else
        {
            count++;
        }
    }
void targetsCallback(const mtt::TargetList& list)
{
  //will print information that should be stored in a file
  //file format: id, good/bad tag, time, pos x, pos y, vel, theta
  //             position_diff, heading_diff, angle_to_robot, velocity_diff
  static ros::Time start_time = ros::Time::now();
  time_elapsed = ros::Time::now() - start_time;
  
  /// /// ROBOT PART //////
  //use transformations to extract robot features
  try{
    p_listener->lookupTransform("/map", "/base_link", ros::Time(0), transform);
    p_listener->lookupTwist("/map", "/base_link", ros::Time(0), ros::Duration(0.5), twist);
  }
  catch (tf::TransformException ex){
    ROS_ERROR("%s",ex.what());
  }

  robot_x = transform.getOrigin().x();
  
  robot_posex_buffer.push_back(robot_x);
  
  robot_y = transform.getOrigin().y();
  robot_theta = tf::getYaw(transform.getRotation());
  robot_vel = sqrt(pow(twist.linear.x, 2) + pow(twist.linear.y, 2));
   
  //robot output line 
  /// uncomment the following for training!
  printf("%d,%d,%.10f,%.10f,%.10f,%.10f,%.10f,0,0,0,0\n",
         -1, leader_tag, time_elapsed.toSec(),
         robot_x, robot_y, robot_vel, robot_theta); 

  
  //testing new features extraction
//   accumulator_set<double, stats<tag::variance> > acc;
//   for_each(robot_posex_buffer.begin(), robot_posex_buffer.end(), boost::bind<void>(boost::ref(acc), _1));
//   printf("%f,%f,%f\n", robot_x, mean(acc), sqrt(variance(acc))); 
  
  /// /// TARGETS PART //////
  //sweeps target list and extract features
  for(uint i = 0; i < list.Targets.size(); i++){
    target_id = list.Targets[i].id;
    target_x = list.Targets[i].pose.position.x;
    target_y = list.Targets[i].pose.position.y;
    target_theta = tf::getYaw(list.Targets[i].pose.orientation);
    target_vel = sqrt(pow(list.Targets[i].velocity.linear.x,2)+
                      pow(list.Targets[i].velocity.linear.y,2));
    position_diff = sqrt(pow(robot_x - target_x,2)+
                        pow(robot_y - target_y,2));
    heading_diff = robot_theta - target_theta;
    angle_to_robot = -robot_theta + atan2(target_y - robot_y, 
                                        target_x - robot_x );
    velocity_diff = robot_vel - target_vel;
          
    //target output (to be used in adaboost training)
    
    // % output file format: 
    // % 1: id
    // % 2: good/bad tag
    // % 3: time
    // % 4: pos x
    // % 5: pos y
    // % 6: vel
    // % 7: theta
    // % 8: pos diff
    // % 9: head diff
    // %10: angle 2 robot 
    // %11: velocity diff 
    
    /// uncomment the following to generate training file!
    printf("%d,%d,%.10f,%.10f,%.10f,%.10f,%.10f,%.10f,%.10f,%.10f,%.10f\n",
      target_id, leader_tag, time_elapsed.toSec(),
      target_x, target_y, target_vel, target_theta,
      position_diff, heading_diff, angle_to_robot, velocity_diff);
    
//     if(position_diff < 6.0 && target_vel > 0.5){
//       //if inside boundaries (in meters)
//       //store features in a covariance struct to send to matlab
//       nfeatures.pose.position.x = target_x;
//       nfeatures.pose.position.y = target_y;
//       nfeatures.pose.position.z = target_id;
// 
//       nfeatures.covariance[0] = target_vel;
//       nfeatures.covariance[1] = velocity_diff;
//       nfeatures.covariance[2] = heading_diff;
//       nfeatures.covariance[3] = angle_to_robot;
//       nfeatures.covariance[4] = position_diff;
//       
//       matlab_list.push_back(nfeatures);
// //       counter++;
//     }
  }
//   printf("targets within range: %d\n",counter);
//   counter = 0;
  
  //check if enough time has passed 
  //and send batch of msgs to matlab
//   duration_btw_msg = ros::Time::now() - time_last_msg;
//   
//   if(duration_btw_msg.toSec() > 0.01){
//     while(!matlab_list.empty()){
//       nfeatures_pub.publish(matlab_list.front());
//       matlab_list.pop_front();
//       usleep(0.01e6); //has to sleep, otherwise matlab do not get the msg
//     }      
//     time_last_msg = ros::Time::now();
//   }
}