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.

Definition at line 177 of file Diagnostics.cpp.

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