RobWorkProject: ODELogUtil Class Reference

Utility to write to SimulatorLog. More...

#include <ODELogUtil.hpp>

Public Member Functions
	ODELogUtil ()
	Constructor.

virtual	~ODELogUtil ()
	Destructor.

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

void	addPositions (const std::string &description, const std::vector< ODEBody * > &bodies, const rw::kinematics::State &state, const char *file="", int line=-1)
	Add positions of bodies to log. More...

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

void	addVelocities (const std::string &description, const std::vector< ODEBody * > &bodies, const rw::kinematics::State &state, const char *file="", int line=-1)
	Add velocities of bodies to log. More...

Public Member Functions inherited from SimulatorLogUtil
	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	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...

Additional Inherited Members
Protected Attributes inherited from SimulatorLogUtil
rwsim::log::SimulatorLogScope *	_scope
	Current log scope.

Detailed Description

Utility to write to SimulatorLog.

Member Function Documentation

◆ addPositions() [1/2]

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

virtual

Reimplemented from SimulatorLogUtil.

◆ addPositions() [2/2]

void addPositions	(	const std::string &	description,
		const std::vector< ODEBody * > &	bodies,
		const rw::kinematics::State &	state,
		const char *	file = `""`,
		int	line = `-1`
	)

Add positions of bodies to log.

Parameters

description	[in] description of log entry.
bodies	[in] vector of bodies to add position for.
state	[in] the state with the positions.
file	[in] filename where logging is happening.
line	[in] the line number of the file where logging is happening.

◆ addVelocities() [1/2]

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

virtual

Reimplemented from SimulatorLogUtil.

◆ addVelocities() [2/2]

void addVelocities	(	const std::string &	description,
		const std::vector< ODEBody * > &	bodies,
		const rw::kinematics::State &	state,
		const char *	file = `""`,
		int	line = `-1`
	)

Add velocities of bodies to log.