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Added vicon, actuator controls effective and optical flow to logging

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Lorenz Meier
2012-11-21 15:32:59 +01:00
parent ffda224b41
commit 25e304c869
4 changed files with 62 additions and 10 deletions
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ROMFS/logging/logconv.m
+10 -1
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@@ -32,7 +32,7 @@ if exist(filePath, 'file')
fileSize = fileInfo.bytes;
fid = fopen(filePath, 'r');
elements = int64(fileSize./(16*4+8))/4
elements = int64(fileSize./(8+(3+3+3+1+1+1+4+8+1+3+3+3+3+9+6+4+6)*4))
for i=1:elements
% timestamp
@@ -79,6 +79,15 @@ if exist(filePath, 'file')
% RotMatrix (9 channels)
sensors(i,39:47) = fread(fid, 9, 'float', 0, 'ieee-le');
% vicon position (6 channels)
sensors(i,48:53) = fread(fid, 6, 'float', 0, 'ieee-le');
% actuator control effective (4 channels)
sensors(i,54:57) = fread(fid, 4, 'float', 0, 'ieee-le');
% optical flow (6 values)
sensors(i,58:63) = fread(fid, 6, 'float', 0, 'ieee-le');
end
time_us = sensors(elements,1) - sensors(1,1);
time_s = time_us*1e-6