Episode Struct Reference

Everything one dump is written from. Assembled off the real-time thread. More...

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

Public Attributes
std::string	controllerInstance
std::uint64_t	controlOverwritten {0}
std::vector< ControlSample >	controlSamples
std::uint32_t	controlTargetStaleCycles {0}
std::uint64_t	controlTaskExceptions {0}
bool	controlTruncated {false}
std::uint64_t	episode {0}
traj_ctrl::global::TrajectoryFollowingControllerParams	params
std::string	platform
std::uint64_t	rtOverwritten {0}
	Lifetime overwrite counts, for context only. See Ring::overwritten.
std::vector< RtSample >	rtSamples
bool	rtTruncated {false}
	Whether the ring overwrote samples of this episode before the dump read them.
bool	simulation {false}
	Whether this ran against a simulated RobotUnit.
float	slewDtBound {0.F}
	The dt bound the real-time slew was actually using [s].
std::vector< TrajectoryRevision >	trajectories
std::uint64_t	trajectoryRevisionsDropped {0}

Detailed Description

Everything one dump is written from. Assembled off the real-time thread.

Member Data Documentation

controllerInstance

std::string controllerInstance

controlOverwritten

std::uint64_t controlOverwritten {0}

controlSamples

std::vector<ControlSample> controlSamples

controlTargetStaleCycles

std::uint32_t controlTargetStaleCycles {0}

controlTaskExceptions

std::uint64_t controlTaskExceptions {0}

controlTruncated

bool controlTruncated {false}

episode

std::uint64_t episode {0}

params

traj_ctrl::global::TrajectoryFollowingControllerParams params

platform

std::string platform

rtOverwritten

std::uint64_t rtOverwritten {0}

Lifetime overwrite counts, for context only. See Ring::overwritten.

rtSamples

std::vector<RtSample> rtSamples

rtTruncated

bool rtTruncated {false}

Whether the ring overwrote samples of this episode before the dump read them.

simulation

bool simulation {false}

Whether this ran against a simulated RobotUnit.

Several things a reader would otherwise have to guess at follow from it: the real-time loop is an order of magnitude slower, and the platform's velocity sensor is not populated faithfully.

slewDtBound

float slewDtBound {0.F}

The dt bound the real-time slew was actually using [s].

Recorded rather than assumed by the reader: it follows from simulation, and a reader that guessed would misreport every dump taken on the other one.

trajectories

std::vector<TrajectoryRevision> trajectories

trajectoryRevisionsDropped

std::uint64_t trajectoryRevisionsDropped {0}

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

• armarx/navigation/platform_controller/Diagnostics.h