Class PoseRecorder

Initialize the PoseRecorder to record a list of modules

INPUT:
  mods -- sequence of modules with .get_pos(), .set_pos() and .go_slack() methods

Overrides: object.__init__

Add the first pose at the end of the recording, with specified delay.
This allows loops to be cleanly repeated.

INPUT:
  dt -- float -- delay in seconds between last and first pose

Write the current recording out on a stream in a text-based format

INPUT:
  stream -- output stream object. Must support .write()
  delim -- str -- delimiter user between columns
  fmt -- str -- format string for numbers (except time)
  hfmt -- str -- format string for column headings
  rdel -- str -- row delimiter
  slc -- slice -- range of pose sequence to show

append a recording from a textual representation
        
        INPUT:
          stream -- list -- a recording with one line per list entry
                 -- file -- a file containing a recording
          cdel -- str -- column delimiter
          dt -- float -- gap in time between last entry and newly loaded data
        
        Caveats: 
          (1) columns must match the list of servos for which the 
              PoseRecorder was configured.
          (2) the first (header) row of the file is ignored
    
        Example: load froma literal multiline string
        >>> pr.appendFrom('''
        0, 1000, 0, 1000
        1,    0, 1000, 0
        '''.split("
"))
        

Syntactic sugar for using .show() to write a .csv formatted recording

INPUT:
  stream -- a file object or a file path. The '.csv' will be added if missing

Typical usage:
  pr.saveCSV('motion.csv')

Play back the current recording one or more times.

INPUT:
  period -- float / None -- duration for entire recording
    if period is None, the recording timestamps are used
  count -- integer -- number of times to play
  rate -- float -- delay between commands sent (sec)