armarx::navigation::platform_controller::diagnostics Namespace Reference

This file is part of ArmarX. More...

Classes
struct	ControlSample
	One cycle of the 100 Hz control task, i.e. one TrajectoryFollowingController::control. More...
struct	Episode
	Everything one dump is written from. Assembled off the real-time thread. More...
struct	Params
	What the diagnostics mode records and where it writes it. More...
class	Ring
	Single-producer ring buffer whose storage is allocated exactly once. More...
struct	RtSample
	One cycle of the 1 kHz real-time loop. More...
struct	TrajectoryRevision
	One trajectory the episode executed, with the revision the samples refer to. More...

Functions
std::string	writeDump (const Episode &episode, const Params &params)
	Write episode as <outputDirectory>/<DateTime>-ep<NNN>/.

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Fabian Reister ( fabian dot reister at kit dot edu )

Date

2026

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Function Documentation

writeDump()

std::string writeDump	(	const Episode &	episode,
		const Params &	params )

Write episode as <outputDirectory>/<DateTime>-ep<NNN>/.

Contains meta.json, trajectory.json, rt.csv and control.csv. trajectory.json reuses the point schema of server/ParametrizationDump.cpp, so the same plotting code reads both.

Never throws: a debugging aid must not be able to disturb the controller that produced it. Failures are logged and swallowed.

Returns

The directory written, or an empty string on failure.