added a matlab writer for trial history

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){

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);
 
 

src/main.c

@@ -32,6 +32,7 @@ int main(int argc, char **argv) {
 	}
 
 	trial_loop(t);
+	trial_matlab(t);
 	
 	trial_free(t);