From 926427bda5e353777a792110842dcf7d54e00b2d Mon Sep 17 00:00:00 2001
From: Johannes Reinhardt <jreinhardt@jr-thinkpad.(none)>
Date: Sat, 12 Jul 2008 11:32:41 +0200
Subject: [PATCH] added a matlab writer for trial history

---
 src/control.c | 21 +++++++++++++++++++++
 src/control.h |  1 +
 src/main.c    |  1 +
 3 files changed, 23 insertions(+)

diff --git a/src/control.c b/src/control.c
index e485e56..ddd0698 100644
--- a/src/control.c
+++ b/src/control.c
@@ -172,7 +172,28 @@ void trial_print(trial *t){
 	/*perhaps add map_print and vehicle_print*/
 }
 
+void telemetry_matlab(gpointer tele, gpointer file){
+	FILE* outfile;
+	telemetry* t;
+	vehicle * v;
+	
+	outfile = (FILE*) file;
+	t = (telemetry*) tele;
+	v = &t->vehicle;
 
+	fprintf(outfile,"v(end+1,:) = [%d %f, %f, %f, %f];\n",t->ts,v->x,v->y,v->dir,v->speed);
+}
+
+/*prints coordinate history to matlab compatible file*/
+void trial_matlab(trial *t){
+	FILE* outfile;
+	
+	outfile = fopen("velocity.m","w");
+	fprintf(outfile,"v = [];\n");
+	g_queue_foreach(&t->telemetry,telemetry_matlab,outfile);
+	fclose(outfile);
+}
+	
 
 /* debugging stuff */
 void object_print(object *o){
diff --git a/src/control.h b/src/control.h
index 44edc4c..b8ae078 100644
--- a/src/control.h
+++ b/src/control.h
@@ -91,6 +91,7 @@ void object_print(object *o);
 void vehicle_print(vehicle *v);
 void telemetry_print(telemetry *t);
 void trial_print(trial *t);
+void trial_matlab(trial *t);
 void map_print(map *m);
 
 
diff --git a/src/main.c b/src/main.c
index f13185a..b878ac5 100644
--- a/src/main.c
+++ b/src/main.c
@@ -32,6 +32,7 @@ int main(int argc, char **argv) {
 	}
 
 	trial_loop(t);
+	trial_matlab(t);
 	
 	trial_free(t);