tools.py

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# -*- coding: utf-8 -*-
# Copyright 2011, Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST
 
from __future__ import print_function
 
 
def addTrace(robot, trace, entityName, signalName, autoRecompute=True):
    """
    Add a signal to a tracer and recompute it automatically if necessary.
    """
    signal = "{0}.{1}".format(entityName, signalName)
    filename = "{0}-{1}".format(entityName, signalName).replace("/", "_")
    trace.add(signal, filename)
    if autoRecompute:
        robot.device.after.addSignal(signal)