[GUI/Plan] Add button to dump plan as YAML

jrl-umi3218 · Mar 19, 2024 · d51c094 · d51c094
1 parent 4126d9c
commit d51c094
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/src/FootstepPlan.cpp b/src/FootstepPlan.cpp
@@ -256,6 +256,15 @@ void FootstepPlan::addGUIElements(mc_rtc::gui::StateBuilder & gui)
   targetContactPolygonConf.width = 0.01;
   targetContactPolygonConf.style = LineStyle::Solid;
 
+  gui.addElement({"Markers", "Footsteps", "Plan"}, mc_rtc::gui::Button("Print Plan (YAML)",
+                                                                       [this]
+                                                                       {
+                                                                         mc_rtc::Configuration conf;
+                                                                         this->save(conf);
+                                                                         mc_rtc::log::info("Plan:\n{}",
+                                                                                           conf.dump(true, true));
+                                                                       }));
+
   gui.addElement({"Markers", "Footsteps", "Plan"},
                  Polygon("TargetContact", targetContactPolygonConf,
                          [this, footStepPolygon]() { return footStepPolygon(targetContact()); }),
@@ -268,6 +277,7 @@ void FootstepPlan::addGUIElements(mc_rtc::gui::StateBuilder & gui)
 void FootstepPlan::removeGUIElements(mc_rtc::gui::StateBuilder & gui)
 {
   gui.removeElement({"Walking"}, "Torso Pitch [deg]");
+  gui.removeElement({"Walking"}, "Print Plan");
   gui.removeCategory({"Markers", "Footsteps", "Plan"});
 }