Params Struct Reference

What the diagnostics mode records and where it writes it. More...

#include <armarx/navigation/platform_controller/Diagnostics.h>

Public Attributes
float	controlDurationSeconds {60.F}
	How much history the 100 Hz ring keeps [s].
int	dumpRequest {0}
	Bumping this asks the controller to write the current episode and begin the next one.
bool	enabled {false}
int	maxTrajectoryRevisions {32}
	How many distinct trajectories one episode may record.
std::string	outputDirectory {"/tmp/armarx-navigation-diagnostics"}
float	rtDurationSeconds {60.F}
	How much history the 1 kHz ring keeps [s]. 60 s is ~5 MB.

Detailed Description

What the diagnostics mode records and where it writes it.

Read once, in the controller's constructor, and never again: the buffers below are sized from it and must not be resized while the real-time thread is writing into them. Turning diagnostics on is therefore a config edit plus a restart of the navigator, which is the right cost for a mode that exists to answer one question.

Member Data Documentation

controlDurationSeconds

float controlDurationSeconds {60.F}

How much history the 100 Hz ring keeps [s].

dumpRequest

int dumpRequest {0}

Bumping this asks the controller to write the current episode and begin the next one.

The only member of this struct that is read after construction.

enabled

bool enabled {false}

maxTrajectoryRevisions

int maxTrajectoryRevisions {32}

How many distinct trajectories one episode may record.

The navigator replans during a request, so a dump that kept only the last one would mislabel most of the run.

outputDirectory

std::string outputDirectory {"/tmp/armarx-navigation-diagnostics"}

rtDurationSeconds

float rtDurationSeconds {60.F}

How much history the 1 kHz ring keeps [s]. 60 s is ~5 MB.

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

• armarx/navigation/platform_controller/Diagnostics.h