bool Logger::logVariables_sparsely(double ts, int a, bool b, int c, int d, cVector3d e, cVector3d f, cVector3d g)
{
if (GLOBAL_FLAG_INITIALIZED == true)
{
// Get Time Stamp
double new_time_stamp = this->getTimeStamp();
// Check if data is redundant
bool same_data = true;
if (log_STATE_MACHINE.size() > 0)
{
same_data = same_data && (a == log_STATE_MACHINE.back()); //STATE_MACHINE
same_data = same_data && (b == log_reward_delievered.back()); //GLOBAL_FLAG_ardin_delieverReward
same_data = same_data && (c == log_cap_sen_sipper.back()); //ardout_capSen_sipperTube
same_data = same_data && (d == log_cap_sen_handle.back()); //ardout_capSen_handleOutside
same_data = same_data && e.equals(log_position.back()); //cur_position
same_data = same_data && f.equals(log_linearVelocity.back()); //cur_linearVelocity
same_data = same_data && g.equals(log_force.back()); //cur_force
}
else
same_data = false;
if (same_data == true)
same_data_time_stamp.push_back(new_time_stamp);
// Data is the same & vector isn't null & time has elapsed longer than limit
if ( (same_data == true) && \
(same_data_time_stamp.size() > 0) && \
(new_time_stamp - same_data_time_stamp.front() > SAME_DATA_DISCARD_TIME_LIMIT) )
{
// discard information
return false;
}
else
{
if ( (same_data_time_stamp.size() > 0) && \
(new_time_stamp - same_data_time_stamp.front() > SAME_DATA_DISCARD_TIME_LIMIT) )
{
this->logVariables(same_data_time_stamp.back(), \
log_STATE_MACHINE.back(), \
log_reward_delievered.back(), \
log_cap_sen_sipper.back(), \
log_cap_sen_handle.back(), \
log_position.back(), \
log_linearVelocity.back(), \
log_force.back());
same_data_time_stamp.clear();
}
this->logVariables(new_time_stamp, a, b, c, d, e, f, g);
if (same_data == false)
same_data_time_stamp.clear();
// successful logging
return true;
}
}
return true;
}
