Hi Dennis,
I think I have a similar problem: the problem seems to be the offset of
strings, right? I assume that if you subtract the offset of sourceFrame
from the offset of targetFrame you SHOULD get something like the size of
the the type that has been used to encode the length of the string (8
Byte vs. 32 Byte)? I have a logfile that looks like type a and a logfile
that looks like type b but the actual length is encoded in the first 8
Byte of the string in both cases. You can check that if you look
directly at the binary data in the logfile with "hexdump -C <file>":
> 00000820 ... 0c 00 00 00 00 00 00 00 |9...............| <- 0c 00
00 00 00 00 00 00 == 12
> 00000830 68 65 6c 6c 6f 77 20 77 6f 72 6c 64 02 ff 01 00 |hellow
world....|
Best regards,
Alexander
Am 09.06.2017 um 12:35 schrieb Dennis Hemker:
> Hey Guys,
>
> I encountered a weird problem during the use of the C++-based
> rock-replay2, which uses the local typekit definitions to load
> marshalled types from the log files. In some logfiles, the local and the
> marshalled typekit type mismatch in their sizes, for instance the
> RigidBodyState_m type. The log was recorded with the Sherpa-Bot in Utah:
>
> type a:
> compound /base/samples/RigidBodyState_m [416] {
> (+0) compound /base/Time [8] {
> (+0) sint(8) (/int64_t) microseconds
> }; time
> (+8) container /std/string</int8_t> sourceFrame
> (+16) container /std/string</int8_t> targetFrame
> (+24) compound /wrappers/Matrix</double,3,1> [24] {
> (+0) array[3] of
> float(8) (/double) data
> }; position
> (+48) compound /wrappers/Matrix</double,3,3> [72] {
> (+0) array[9] of
> float(8) (/double) data
> }; cov_position
> (+120) compound /wrappers/Quaternion</double> [32] {
> (+0) array[3] of
> float(8) (/double) im
> (+24) float(8) (/double) re
> }; orientation
> (+152) compound /wrappers/Matrix</double,3,3> [72] {
> (+0) array[9] of
> float(8) (/double) data
> }; cov_orientation
> (+224) compound /wrappers/Matrix</double,3,1> [24] {
> (+0) array[3] of
> float(8) (/double) data
> }; velocity
> (+248) compound /wrappers/Matrix</double,3,3> [72] {
> (+0) array[9] of
> float(8) (/double) data
> }; cov_velocity
> (+320) compound /wrappers/Matrix</double,3,1> [24] {
> (+0) array[3] of
> float(8) (/double) data
> }; angular_velocity
> (+344) compound /wrappers/Matrix</double,3,3> [72] {
> (+0) array[9] of
> float(8) (/double) data
> }; cov_angular_velocity
> };
> type b:
> compound /base/samples/RigidBodyState_m [464] {
> (+0) compound /base/Time [8] {
> (+0) sint(8) (/int64_t) microseconds
> }; time
> (+8) container /std/string</int8_t> sourceFrame
> (+40) container /std/string</int8_t> targetFrame
> (+72) compound /wrappers/Matrix</double,3,1> [24] {
> (+0) array[3] of
> float(8) (/double) data
> }; position
> (+96) compound /wrappers/Matrix</double,3,3> [72] {
> (+0) array[9] of
> float(8) (/double) data
> }; cov_position
> (+168) compound /wrappers/Quaternion</double> [32] {
> (+0) array[3] of
> float(8) (/double) im
> (+24) float(8) (/double) re
> }; orientation
> (+200) compound /wrappers/Matrix</double,3,3> [72] {
> (+0) array[9] of
> float(8) (/double) data
> }; cov_orientation
> (+272) compound /wrappers/Matrix</double,3,1> [24] {
> (+0) array[3] of
> float(8) (/double) data
> }; velocity
> (+296) compound /wrappers/Matrix</double,3,3> [72] {
> (+0) array[9] of
> float(8) (/double) data
> }; cov_velocity
> (+368) compound /wrappers/Matrix</double,3,1> [24] {
> (+0) array[3] of
> float(8) (/double) data
> }; angular_velocity
> (+392) compound /wrappers/Matrix</double,3,3> [72] {
> (+0) array[9] of
> float(8) (/double) data
> }; cov_angular_velocity
> };Checking /body_joint.state
>
> Differences can be found in the source- and targetFrame definitions.
>
> Thank you and best regards,
>
> Dennis
>
> _______________________________________________
> Rock-dev mailing list
> Rock-dev@dfki.de
> http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
--
Alexander Fabisch
Sustained Interaction and Learning
Hauptgeschäftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 1
28359 Bremen, Germany
Tel.: +49 421 178 45-4124
Zentrale: +49 421 178 45-0
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: alexander.fabi...@dfki.de
Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
_______________________________________________
Rock-dev mailing list
Rock-dev@dfki.de
http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
