One cycle of the 1 kHz real-time loop. More...

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

Public Attributes
float	dt {0.F}

std::uint64_t	episode {0}

std::uint64_t	sequence {0}
	`additionalTaskSequence` as observed this cycle. Joins this row to `control.csv`.

bool	slewLimited {false}
	A slew bound was binding this cycle, i.e. the command could not follow its target.

bool	stale {false}
	The watchdog fired: the 100 Hz task stopped publishing and the command is ramping down.

std::int64_t	timestampUs {0}

float	vCmdX {0.F}
	What was written to the control target, i.e. after `rtSlewTowards`.

float	vCmdY {0.F}

float	vMeasX {0.F}
	Measured platform velocity, base frame.

float	vMeasY {0.F}

float	vTgtX {0.F}
	The twist the 100 Hz task published, before the slew. Zero while the watchdog holds.

float	vTgtY {0.F}

float	wCmd {0.F}

float	wMeas {0.F}

float	wTgt {0.F}

float	x {0.F}

float	y {0.F}

float	yaw {0.F}

Detailed Description

One cycle of the 1 kHz real-time loop.

Trivially copyable and fixed size: this is written from rtRun, so it must contain no pointer, no container and nothing whose assignment could allocate.

Definition at line 72 of file Diagnostics.h.

Member Data Documentation

◆ dt

float dt {0.F}

Definition at line 100 of file Diagnostics.h.

◆ episode

std::uint64_t episode {0}

Definition at line 75 of file Diagnostics.h.

◆ sequence

std::uint64_t sequence {0}

additionalTaskSequence as observed this cycle. Joins this row to control.csv.

Definition at line 78 of file Diagnostics.h.

◆ slewLimited

bool slewLimited {false}

A slew bound was binding this cycle, i.e. the command could not follow its target.

Definition at line 106 of file Diagnostics.h.

◆ stale

bool stale {false}

The watchdog fired: the 100 Hz task stopped publishing and the command is ramping down.

Definition at line 103 of file Diagnostics.h.

◆ timestampUs

std::int64_t timestampUs {0}

Definition at line 74 of file Diagnostics.h.

◆ vCmdX

float vCmdX {0.F}

What was written to the control target, i.e. after rtSlewTowards.

Definition at line 96 of file Diagnostics.h.

◆ vCmdY

float vCmdY {0.F}

Definition at line 97 of file Diagnostics.h.

◆ vMeasX

float vMeasX {0.F}

Measured platform velocity, base frame.

The half of the overshoot question that no existing sink reports.

Definition at line 86 of file Diagnostics.h.

◆ vMeasY

float vMeasY {0.F}

Definition at line 87 of file Diagnostics.h.

◆ vTgtX

float vTgtX {0.F}

The twist the 100 Hz task published, before the slew. Zero while the watchdog holds.

Definition at line 91 of file Diagnostics.h.

◆ vTgtY

float vTgtY {0.F}

Definition at line 92 of file Diagnostics.h.

◆ wCmd

float wCmd {0.F}

Definition at line 98 of file Diagnostics.h.

◆ wMeas

float wMeas {0.F}

Definition at line 88 of file Diagnostics.h.

◆ wTgt

float wTgt {0.F}

Definition at line 93 of file Diagnostics.h.

◆ x

float x {0.F}

Definition at line 80 of file Diagnostics.h.

◆ y

float y {0.F}

Definition at line 81 of file Diagnostics.h.

◆ yaw

float yaw {0.F}

Definition at line 82 of file Diagnostics.h.

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

armarx/navigation/platform_controller/Diagnostics.h

Public Attributes