additional/debug/debug.cpp

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#ifndef _CONSOLE
    //#include "afx.h"
#endif
#include "Debug.h"
#include <stdio.h>
#include <stdarg.h>
//#include <iostream>
//#include <fstream.h>
#include "math/VectorN.h"
#include "math/Vector4.h"
#include "math/Matrixmxn.h"
#include "math/Matrix4x4.h"
#include "kinematics/Configuration.h"
#include "paths/PA_Points.h"


//=============================================================================
// DebugMessage
//
// Description: print out a message to the debug console / screen
//=============================================================================
void DebugMessage( const char* message )
{
#ifdef _CONSOLE
        printf( message );
#else
        //TRACE( message );
#endif
}

void Log(char *fileName, char *format, ...)
{
#ifdef _DEBUG
        va_list vl;
        char logString[1024];
        //ofstream logFile;
        FILE *logFile;
        logFile = fopen(fileName, "a+");
        //logFile.open(fileName, std::ios::out|std::ios::app);
        va_start(vl, format);
        vsprintf(logString, format, vl);
        //logFile << logString << endl;
        fprintf(logFile, "%s\n", logString);
        va_end(vl);
        fclose(logFile);
        //logFile.close();
#endif
}

void LogVector(char *fileName, VectorN &vec, char *szMsg)
{
#ifdef _DEBUG
        char szLog[1024];
        if (szMsg != NULL)
                sprintf(szLog, "%s\n", szMsg);
        else
                szLog[0]='\0';
        for (int i=0; i<vec.Size(); i++)
        {
                char szNum[32];
                sprintf( szNum, "%.4f\t", vec[i] );
                strcat(szLog, szNum);
        }
        Log(fileName, "%s\n", szLog);
#endif
}

void LogVector(char *fileName, Vector4 &vec, char *szMsg)
{
#ifdef _DEBUG
        char szLog[1024];
        if (szMsg != NULL)
                sprintf(szLog, "%s\n", szMsg);
        else
                szLog[0]='\0';
        for (int i=0; i<3; i++)
        {
                char szNum[32];
                sprintf( szNum, "%.4f\t", vec[i] );
                strcat(szLog, szNum);
        }
        Log(fileName, "%s\n", szLog);
#endif
}

void LogMatrix(char *fileName, Matrixmxn &matrix, char *szMsg)
{
#ifdef _DEBUG
        char szLog[1024];
        if (szMsg != NULL)
                sprintf(szLog, "%s\n", szMsg);
        else
                szLog[0]='\0';
        for (int i=0; i<matrix.GetRows(); i++)
        {
                for (int j=0; j<matrix.GetColumns(); j++)
                {
                        char szNum[32];
                        sprintf(szNum, "%.4f\t", matrix(i, j));
                        if ( strlen(szLog)<(1022-strlen(szNum)) )
                                strcat(szLog, szNum);
                }
                
                if (strlen(szLog) < 1023)
                        strcat(szLog, "\n");
        }
        Log(fileName, "%s", szLog);
#endif
}

void LogMatrix(char *fileName, Matrix4x4 &matrix, char *szMsg)
{
#ifdef _DEBUG
        char szLog[1024];
        if (szMsg != NULL)
                sprintf(szLog, "%s\n", szMsg);
        else
                szLog[0]='\0';
        for (int i=0; i<4; i++)
        {
                for (int j=0; j<4; j++)
                {
                        char szNum[32];
                        sprintf(szNum, "%.4f\t", matrix(i, j));
                        if ( strlen(szLog)<(1022-strlen(szNum)) )
                                strcat(szLog, szNum);
                }
                
                if (strlen(szLog) < 1023)
                        strcat(szLog, "\n");
        }
        Log(fileName, "%s", szLog);
#endif
}

void LogMessage(char *fileName, char *szMsg)
{
#ifdef _DEBUG
        Log(fileName, "%s\n", szMsg);
#endif
}

void LogConfiguration(char *fileName, Configuration &config)
{
        char szConfig[200];
        char szValue[100];
        int nDof = config.DOF();
        strcpy(szConfig, "[");
        for(int d=0; d<nDof; d++)
        {                       
                sprintf(szValue, "%f,", config[d]);
                strcat(szConfig, szValue);
        }
        szConfig[strlen(szConfig)-1]=']';
        
        Log(fileName, "%s", szConfig);
}

void LogPath(char *fileName, PA_Points &path)
{
        int nPathLen = path.Size();
        Log(fileName, "%d", nPathLen);
        for(int k=0; k<nPathLen; k++)
        {
                LogConfiguration(fileName, path[k]);
        }
}

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