The Tracer entity monitors a set of signals. With an input change on the entity's [trigger] signal, the tracked signal values are recorded and traced to a file. The behavior of the trace-to-file function can be changed, from printing to a file immediately after recording, to printing out only when asked explicitly.
The commands that this entity exposes are:
open, close (a file); add (a signal) clear (recorded values); record (signal values) trace (doesn't do anything) start, stop (traces)
For more information on the signals exposed by this entity, please check the code documentation of the dynamicgraph::Tracer class.
The following code creates a TracerRealTime entity, then sets the tracing buffer size to 10MB. It then tells the tracer to create files with names of the form: jl_XXX.dat where XXX is the signal name, and adds a few signals after clearing the traces;
new TracerRealTime tr tr.bufferSize 10485760 tr.open ${TRACE_REPOSITORY} jl_ .dat OpenHRP.periodicCall addSignal tr.triger (...) # --- TRACE --- tr.clear tr.add OpenHRP.forceRARM tr.add dyn.0 tr.add jgain.gain
See doxygen documentation for the class dynamicgraph::Tracer
tracer.dll or tracer.so.