How to use

getLogSettings

method

in

us.ihmc.avatar.drcRobot.DRCRobotModel

private void setupYoVariableServer()
{
 if (robotModel.get().getLogSettings().isLog())
 {
   yoVariableServer = new YoVariableServer(getClass(), new PeriodicNonRealtimeThreadScheduler("DRCSimulationYoVariableServer"),
                       robotModel.get().getLogModelProvider(), robotModel.get().getLogSettings(), robotModel.get().getEstimatorDT());
 }
 else
 {
   yoVariableServer = null;
 }
}

private void setupYoVariableServer()
{
 if (createYoVariableServer.get())
 {
   yoVariableServer = new YoVariableServer(getClass(), new PeriodicNonRealtimeThreadSchedulerFactory(), robotModel.get().getLogModelProvider(),
                       robotModel.get().getLogSettings(), robotModel.get().getEstimatorDT());
 }
}

public IHMCMOCAPLocalizationModule(DRCRobotModel drcRobotModel, MocapPlanarRegionsListManager planarRegionsListManager)
{
 MocapDataClient mocapDataClient = new MocapDataClient();
 mocapDataClient.registerRigidBodiesListener(this);
 packetCommunicator.attachListener(RobotConfigurationData.class, this);
 packetCommunicator.attachListener(FootstepStatusMessage.class, walkingStatusManager);
 PeriodicThreadSchedulerFactory scheduler = new PeriodicNonRealtimeThreadSchedulerFactory();
 LogModelProvider logModelProvider = drcRobotModel.getLogModelProvider();
 
 this.planarRegionsListManager = planarRegionsListManager;
 yoVariableServer = new YoVariableServer(getClass(), scheduler, logModelProvider, drcRobotModel.getLogSettings(), MOCAP_SERVER_DT);
 fullRobotModel = drcRobotModel.createFullRobotModel();
 yoVariableServer.setMainRegistry(registry, fullRobotModel.getElevator(), null);
 PrintTools.info("Starting server");
 yoVariableServer.start();
 
 try
 {
   packetCommunicator.connect();
 }
 catch (IOException e)
 {
   e.printStackTrace();
 }
}