Logging and plotting routines for Hubo.

Please contact Matt Zucker mzucker1@swarthmore.edu with questions, comments, or rants.

Log format based on MRDPLOT code obtained from Chris Atkeson @ CMU

To build the software, you will need these libraries:

• ach
• hubo-ach
• Qt4 (Ubuntu: libqt4-dev)
• Qwt5 (Ubuntu: libqwt5-qt4-dev)

You must also install cmake to build as well. To build:

cd /path/to/hubo-logging
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

To log data from the robot (either directly or over an ACH remote session), run the hubo-logger program. You should supply a destination filename on the command line:

hubo-logger LOGFILENAME.data

To stop logging, simply interrupt the program with Ctrl+C.

To plot log data, use the plot program:

plot LOGFILENAME.data

To search for a variable name, use the search box in the top right. To add a variable to a plot, click the variable name in the list view on the right, and then click any row of plots on the left. You may add multiple traces to a single row.

The left hand side of the window has a two-column array of plots. The left column shows the entire data trace, and the right column shows a detailed virsion. To zoom in or out in the detail view, use the mousewheel or Ctrl+EQUALS or Ctrl+MINUS. To reset the zoom, use Ctrl+0.

You may also load and save plot sets using the file menu. The plot set files should have the .plots extension.