RobWorkProject: SimulatorLogUtil Class Reference

Utility to make it more convenient to write to a SimulatorLogScope. More...

#include <SimulatorLogUtil.hpp>

Public Member Functions
	SimulatorLogUtil ()
	Constructor.

virtual	~SimulatorLogUtil ()
	Destructor.

virtual void	setSimulatorLog (rw::core::Ptr< rwsim::log::SimulatorLogScope > log)
	Set the simulator log to write to. More...

virtual bool	doLog () const
	Check if there is a log to write to. More...

virtual void	beginStep (double time, const char *file="", int line=-1)
	Begin a new discrete simulation step. More...

virtual void	endStep (double time, int line=-1)
	End a discrete simulation step. More...

virtual void	beginSection (const std::string &name, const char *file="", int line=-1)
	Add a grouping section. More...

virtual void	endSection (int line=-1)
	End current grouping section. More...

virtual rwsim::log::SimulatorLogScope *	makeScope (const std::string &name, const char *file="", int line=-1)
	Make a subscope. More...

virtual void	addValues (const std::string &description, const std::vector< double > &values, const std::vector< std::string > &labels, const char *file="", int line=-1)
	Add numeric values. More...

virtual std::ostream &	log (const std::string &description, const char *file="", int line=-1)
	Log a message. More...

virtual std::ostream &	log (const char *file="", int line=-1)
	Log a message. More...

virtual void	addPositions (const std::string &description, const std::map< std::string, rw::math::Transform3D<>> &positions, const char *file="", int line=-1)
	Add positions for bodies to log. More...

virtual void	addVelocities (const std::string &description, const std::map< std::string, rw::math::VelocityScrew6D<>> &velocities, const char *file="", int line=-1)
	Add velocities for bodies to log. More...

virtual void	addCollisionResults (const std::string &description, const std::vector< rw::proximity::CollisionStrategy::Result > &results, const char *file="", int line=-1)
	Add results from a collision strategy. More...

virtual void	addDistanceResults (const std::string &description, const std::vector< rw::proximity::DistanceStrategy::Result > &results, const char *file="", int line=-1)
	Add results from a distance strategy. More...

virtual void	addDistanceMultiResults (const std::string &description, const std::vector< rw::proximity::DistanceMultiStrategy::Result > &results, const char *file="", int line=-1)
	Add results from a multi-distance strategy. More...

Protected Attributes
rwsim::log::SimulatorLogScope *	_scope
	Current log scope.

Detailed Description

Utility to make it more convenient to write to a SimulatorLogScope.

Member Function Documentation

◆ addCollisionResults()

virtual void addCollisionResults	(	const std::string &	description,
		const std::vector< rw::proximity::CollisionStrategy::Result > &	results,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Add results from a collision strategy.

Parameters

description	[in] description of log entry.
results	[in] the results of a collision detection.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

◆ addDistanceMultiResults()

virtual void addDistanceMultiResults	(	const std::string &	description,
		const std::vector< rw::proximity::DistanceMultiStrategy::Result > &	results,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Add results from a multi-distance strategy.

Parameters

description	[in] description of log entry.
results	[in] the results of a multi-distance detection.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

◆ addDistanceResults()

virtual void addDistanceResults	(	const std::string &	description,
		const std::vector< rw::proximity::DistanceStrategy::Result > &	results,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Add results from a distance strategy.

Parameters

description	[in] description of log entry.
results	[in] the results of a distance detection.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

◆ addPositions()

virtual void addPositions	(	const std::string &	description,
		const std::map< std::string, rw::math::Transform3D<>> &	positions,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Add positions for bodies to log.

Parameters

description	[in] description of log entry.
positions	[in] map of body name to its transform.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

Reimplemented in ODELogUtil.

◆ addValues()

virtual void addValues	(	const std::string &	description,
		const std::vector< double > &	values,
		const std::vector< std::string > &	labels,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Add numeric values.

Parameters

description	[in] description of log entry.
values	[in] list of values.
labels	[in] list of labels with same length as values.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

◆ addVelocities()

virtual void addVelocities	(	const std::string &	description,
		const std::map< std::string, rw::math::VelocityScrew6D<>> &	velocities,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Add velocities for bodies to log.

Parameters

description	[in] description of log entry.
velocities	[in] map of body name to its velocity.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

Reimplemented in ODELogUtil.

◆ beginSection()

virtual void beginSection	(	const std::string &	name,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Add a grouping section.

Parameters

name	[in] name of the section.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

◆ beginStep()

virtual void beginStep	(	double	time,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Begin a new discrete simulation step.

Parameters

time	[in] initial simulation time.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

◆ doLog()

virtual bool doLog ( ) const

virtual

Check if there is a log to write to.

Returns: true if logging is enabled.

◆ endSection()

virtual void endSection ( int line = -1 )

virtual

End current grouping section.

Parameters

line	[in] the line number of the file where logging is happening.

◆ endStep()

virtual void endStep	(	double	time,
		int	line = `-1`
	)

virtual

End a discrete simulation step.

Parameters

time	[in] simulation time at end of step.
line	[in] the line number of the file where logging is happening.

◆ log() [1/2]

virtual std::ostream& log	(	const char *	file = `""`,
		int	line = `-1`
	)

virtual

Log a message.

Parameters

file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

Returns: a stream to write longer message to.

◆ log() [2/2]

virtual std::ostream& log	(	const std::string &	description,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Log a message.

Parameters

description	[in] description of log entry.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

Returns: a stream to write longer message to.

◆ makeScope()

virtual rwsim::log::SimulatorLogScope* makeScope	(	const std::string &	name,
		const char *	file = `""`,
		int	line = `-1`
	)

virtual

Make a subscope.

Parameters

name	[in] name of scope.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

Returns: a new log scope.

◆ setSimulatorLog()

virtual void setSimulatorLog ( rw::core::Ptr< rwsim::log::SimulatorLogScope > log )

virtual

Set the simulator log to write to.

Parameters

log	[in] the base log scope.

The documentation for this class was generated from the following file:

SimulatorLogUtil.hpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ addCollisionResults()

◆ addDistanceMultiResults()

◆ addDistanceResults()

◆ addPositions()

◆ addValues()

◆ addVelocities()

◆ beginSection()

◆ beginStep()

◆ doLog()

◆ endSection()

◆ endStep()

◆ log() [1/2]

◆ log() [2/2]

◆ makeScope()

◆ setSimulatorLog()