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.

Definition at line 316 of file Diagnostics.h.

Member Data Documentation

◆ controllerInstance

std::string controllerInstance

Definition at line 320 of file Diagnostics.h.

◆ controlOverwritten

std::uint64_t controlOverwritten {0}

Definition at line 345 of file Diagnostics.h.

◆ controlSamples

std::vector<ControlSample> controlSamples

Definition at line 326 of file Diagnostics.h.

◆ controlTargetStaleCycles

std::uint32_t controlTargetStaleCycles {0}

Definition at line 348 of file Diagnostics.h.

◆ controlTaskExceptions

std::uint64_t controlTaskExceptions {0}

Definition at line 347 of file Diagnostics.h.

◆ controlTruncated

bool controlTruncated {false}

Definition at line 341 of file Diagnostics.h.

◆ episode

std::uint64_t episode {0}

Definition at line 318 of file Diagnostics.h.

◆ params

traj_ctrl::global::TrajectoryFollowingControllerParams params

Definition at line 323 of file Diagnostics.h.

◆ platform

std::string platform

Definition at line 321 of file Diagnostics.h.

◆ rtOverwritten

std::uint64_t rtOverwritten {0}

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

Definition at line 344 of file Diagnostics.h.

◆ rtSamples

std::vector<RtSample> rtSamples

Definition at line 325 of file Diagnostics.h.

◆ rtTruncated

bool rtTruncated {false}

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

Definition at line 340 of file Diagnostics.h.

◆ 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.

Definition at line 332 of file Diagnostics.h.

◆ 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.

Definition at line 337 of file Diagnostics.h.

◆ trajectories

std::vector<TrajectoryRevision> trajectories

Definition at line 327 of file Diagnostics.h.

◆ trajectoryRevisionsDropped

std::uint64_t trajectoryRevisionsDropped {0}

Definition at line 346 of file Diagnostics.h.

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

armarx/navigation/platform_controller/Diagnostics.h

Public Attributes