[removed ctrl_manager] replaced with parameter server. As it is, this script...

[removed ctrl_manager] replaced with parameter server. As it is, this script outputs data from base-estimator in a file.

python/sot_talos_balance/test/test_COMTraj_tracer.py

@@ -2,7 +2,7 @@ from sot_talos_balance.create_entities_utils import *
 from sot_talos_balance.utils.plot_utils import *
 import sot_talos_balance.talos_conf as conf
 import sot_talos_balance.motor_parameters as motor_params
-import sot_talos_balance.control_manager_conf as control_manager_conf
+import sot_talos_balance.control_manager_conf as param_server_conf
 from dynamic_graph.sot.core.meta_tasks_kine import MetaTaskKine6d, MetaTaskKineCom, gotoNd
 from dynamic_graph.sot.core.matrix_util import matrixToTuple
 from dynamic_graph import plug
@@ -48,8 +48,9 @@ def main(robot):
 	robot.device.control.recompute(0)
 	
 	# --- ESTIMATION
-	robot.ctrl_manager            = create_ctrl_manager(control_manager_conf, motor_params, dt);
-	#~ robot.imu_offset_compensation = create_imu_offset_compensation(robot, dt)
+	robot.param_server            = create_parameter_server(param_server_conf,dt)
+	# robot.ctrl_manager            = create_ctrl_manager(param_server_conf,motor_params,dt)
+	# robot.imu_offset_compensation = create_imu_offset_compensation(robot, dt)
 	robot.device_filters          = create_device_filters(robot, dt)
 	robot.imu_filters             = create_imu_filters(robot, dt)
 	robot.base_estimator          = create_base_estimator(robot, dt, conf) 
@@ -60,7 +61,8 @@ def main(robot):
 	robot.device_tracer    = create_tracer(robot,robot.device, 'device_tracer', outputs)
 	outputs = ['q']
 	robot.estimator_tracer = create_tracer(robot,robot.base_estimator, 'estimator_tracer', outputs)
-	
+	robot.device.after.addSignal('base_estimator.q')
+
 	# --- RUN SIMULATION
 	plug(robot.comTrajGen.x,    robot.taskCom.featureDes.errorIN);
 	sleep(1.0);
@@ -77,8 +79,7 @@ def main(robot):
 	dump_tracer(robot.device_tracer);
 	dump_tracer(robot.estimator_tracer);
 	print 'data dumped'
-	write_pdf_graph('/tmp/')
-	return
+
 	
 	# --- DISPLAY
 	device_data = read_tracer_file('/tmp/dg_'+robot.device.name+'-robotState.dat')