A class for logging utilities. More...

#include <log_utils.h>

Collaboration diagram for LogUtils:

Public Member Functions
	LogUtils ()
	Constructor. More...

virtual	~LogUtils ()
	Destructor. More...

void	WriteToLog ()

void	OnGenCoordMsg (const std_msgs::Float64MultiArrayConstPtr &_msg)
	The OnGenCoordMsg function handles an incoming generalized coordinates message from ROS. More...

void	OnGenVelMsg (const std_msgs::Float64MultiArrayConstPtr &_msg)
	The OnGenVelMsg function handles an incoming generalized velocities message from ROS. More...

void	OnJointStateMsg (const sensor_msgs::JointStateConstPtr &_msg)
	The OnJointStateMsg function handles an incoming joint state message from ROS. More...

void	OnJointStateCmdMsg (const sensor_msgs::JointStateConstPtr &_msg)
	The OnJointStateCmdMsg function handles an incoming joint state command message from ROS. More...

void	PublishQueueThread ()
	The PublishQueueThread function is a ROS helper function that publish state messages. More...

void	ProcessQueueThread ()
	The ProcessQueueThread function is a ROS helper function that processes messages. More...

Protected Member Functions
void	InitRos ()
	The InitRos function is called to initialize ROS. More...

void	InitRosQueueThreads ()
	The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads. More...

Private Attributes
Kinematics	kinematics
	Kinematics. More...

Eigen::Matrix< double, 18, 1 >	genCoord
	Generalized Coordinates. More...

Eigen::Matrix< double, 18, 1 >	genVel
	Generalized Velocities. More...

sensor_msgs::JointState	jointState
	Joint State. More...

sensor_msgs::JointState	jointStateCmd
	Joint State Command. More...

Eigen::Matrix< Eigen::Vector3d, 4, 1 >	fPos
	Footstep positions. More...

int	contactState [4]
	Contact State. More...

std::unique_ptr< ros::NodeHandle >	rosNode
	Node used for ROS transport. More...

ros::Subscriber	genCoordSub
	ROS Generalized Coordinates Subscriber. More...

ros::Subscriber	genVelSub
	ROS Generalized Coordinates Subscriber. More...

ros::Subscriber	jointStateSub
	ROS Joint State Subscriber. More...

ros::Subscriber	jointStateCmdSub
	ROS Joint State Command Subscriber. More...

ros::Subscriber	contactStateSub
	ROS Contact State Subscriber. More...

ros::Publisher	genCoordLogPub
	ROS Generalized Coordinates Log Publisher. More...

ros::Publisher	genVelLogPub
	ROS Generalized Velocities Log Publisher. More...

ros::Publisher	jointStatePub
	ROS Joint State Log Publisher. More...

ros::Publisher	jointStateCmdPub
	ROS Joint State Command Log Publisher. More...

ros::CallbackQueue	rosPublishQueue
	ROS callbackque that helps publish messages. More...

ros::CallbackQueue	rosProcessQueue
	ROS callbackque that helps process messages. More...

std::thread	rosPublishQueueThread
	Thread running the rosPublishQueue. More...

std::thread	rosProcessQueueThread
	Thread running the rosProcessQueue. More...

Detailed Description

A class for logging utilities.

Definition at line 48 of file log_utils.h.

Constructor & Destructor Documentation

◆ LogUtils()

LogUtils::LogUtils ( )

Constructor.

Definition at line 30 of file log_utils.cpp.

◆ ~LogUtils()

LogUtils::~LogUtils ( )

virtual

Destructor.

Definition at line 43 of file log_utils.cpp.

Member Function Documentation

◆ WriteToLog()

void LogUtils::WriteToLog ( )

Definition at line 57 of file log_utils.cpp.

◆ OnGenCoordMsg()

void LogUtils::OnGenCoordMsg ( const std_msgs::Float64MultiArrayConstPtr & _msg )

The OnGenCoordMsg function handles an incoming generalized coordinates message from ROS.

Parameters

[in] _msg A float array containing the generalized coordinates.

Definition at line 69 of file log_utils.cpp.

◆ OnGenVelMsg()

void LogUtils::OnGenVelMsg ( const std_msgs::Float64MultiArrayConstPtr & _msg )

The OnGenVelMsg function handles an incoming generalized velocities message from ROS.

Parameters

[in] _msg A float array containing the generalized velocities.

Definition at line 87 of file log_utils.cpp.

◆ OnJointStateMsg()

void LogUtils::OnJointStateMsg ( const sensor_msgs::JointStateConstPtr & _msg )

The OnJointStateMsg function handles an incoming joint state message from ROS.

Parameters

[in]

_msg

A message holding data to describe the state of a set of controlled joints. The state is defined by

the position of the joint,
the velocity of the joint and
the effort (torque) that is applied in the joint.

Definition at line 96 of file log_utils.cpp.

◆ OnJointStateCmdMsg()

void LogUtils::OnJointStateCmdMsg ( const sensor_msgs::JointStateConstPtr & _msg )

The OnJointStateCmdMsg function handles an incoming joint state command message from ROS.

Parameters

[in]

_msg

A message holding data to describe the state of a set of controlled joints. The state is defined by

the position of the joint,
the velocity of the joint and
the effort (torque) that is applied in the joint.

Definition at line 105 of file log_utils.cpp.

◆ PublishQueueThread()

void LogUtils::PublishQueueThread ( )

The PublishQueueThread function is a ROS helper function that publish state messages.

Definition at line 114 of file log_utils.cpp.

◆ ProcessQueueThread()

void LogUtils::ProcessQueueThread ( )

The ProcessQueueThread function is a ROS helper function that processes messages.

Definition at line 124 of file log_utils.cpp.

◆ InitRos()

void LogUtils::InitRos ( )

protected

The InitRos function is called to initialize ROS.

Definition at line 134 of file log_utils.cpp.

◆ InitRosQueueThreads()

void LogUtils::InitRosQueueThreads ( )

protected

The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads.

Definition at line 245 of file log_utils.cpp.

Member Data Documentation

◆ kinematics

Kinematics LogUtils::kinematics

private

Kinematics.

Definition at line 105 of file log_utils.h.

◆ genCoord

Eigen::Matrix<double, 18, 1> LogUtils::genCoord

private

Generalized Coordinates.

Definition at line 108 of file log_utils.h.

◆ genVel

Eigen::Matrix<double, 18, 1> LogUtils::genVel

private

Generalized Velocities.

Definition at line 111 of file log_utils.h.

◆ jointState

sensor_msgs::JointState LogUtils::jointState

private

Joint State.

Definition at line 114 of file log_utils.h.

◆ jointStateCmd

sensor_msgs::JointState LogUtils::jointStateCmd

private

Joint State Command.

Definition at line 117 of file log_utils.h.

◆ fPos

Eigen::Matrix<Eigen::Vector3d, 4, 1> LogUtils::fPos

private

Footstep positions.

Definition at line 120 of file log_utils.h.

◆ contactState

int LogUtils::contactState[4]

private

Contact State.

Definition at line 123 of file log_utils.h.

◆ rosNode

std::unique_ptr<ros::NodeHandle> LogUtils::rosNode

private

Node used for ROS transport.

Definition at line 126 of file log_utils.h.

◆ genCoordSub

ros::Subscriber LogUtils::genCoordSub

private

ROS Generalized Coordinates Subscriber.

Definition at line 129 of file log_utils.h.

◆ genVelSub

ros::Subscriber LogUtils::genVelSub

private

ROS Generalized Coordinates Subscriber.

Definition at line 132 of file log_utils.h.

◆ jointStateSub

ros::Subscriber LogUtils::jointStateSub

private

ROS Joint State Subscriber.

Definition at line 135 of file log_utils.h.

◆ jointStateCmdSub

ros::Subscriber LogUtils::jointStateCmdSub

private

ROS Joint State Command Subscriber.

Definition at line 138 of file log_utils.h.

◆ contactStateSub

ros::Subscriber LogUtils::contactStateSub

private

ROS Contact State Subscriber.

Definition at line 141 of file log_utils.h.

◆ genCoordLogPub

ros::Publisher LogUtils::genCoordLogPub

private

ROS Generalized Coordinates Log Publisher.

Definition at line 144 of file log_utils.h.

◆ genVelLogPub

ros::Publisher LogUtils::genVelLogPub

private

ROS Generalized Velocities Log Publisher.

Definition at line 147 of file log_utils.h.

◆ jointStatePub

ros::Publisher LogUtils::jointStatePub

private

ROS Joint State Log Publisher.

Definition at line 150 of file log_utils.h.

◆ jointStateCmdPub

ros::Publisher LogUtils::jointStateCmdPub

private

ROS Joint State Command Log Publisher.

Definition at line 153 of file log_utils.h.

◆ rosPublishQueue

ros::CallbackQueue LogUtils::rosPublishQueue

private

ROS callbackque that helps publish messages.

Definition at line 156 of file log_utils.h.

◆ rosProcessQueue

ros::CallbackQueue LogUtils::rosProcessQueue

private

ROS callbackque that helps process messages.

Definition at line 159 of file log_utils.h.

◆ rosPublishQueueThread

std::thread LogUtils::rosPublishQueueThread

private

Thread running the rosPublishQueue.

Definition at line 162 of file log_utils.h.

◆ rosProcessQueueThread

std::thread LogUtils::rosProcessQueueThread

private

Thread running the rosProcessQueue.

Definition at line 165 of file log_utils.h.

The documentation for this class was generated from the following files:

catkin_ws/src/utilities/log_utils/include/log_utils/log_utils.h
catkin_ws/src/utilities/log_utils/src/log_utils.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LogUtils()

◆ ~LogUtils()

Member Function Documentation

◆ WriteToLog()

◆ OnGenCoordMsg()

◆ OnGenVelMsg()

◆ OnJointStateMsg()

◆ OnJointStateCmdMsg()

◆ PublishQueueThread()

◆ ProcessQueueThread()

◆ InitRos()

◆ InitRosQueueThreads()

Member Data Documentation

◆ kinematics

◆ genCoord

◆ genVel

◆ jointState

◆ jointStateCmd

◆ fPos

◆ contactState

◆ rosNode

◆ genCoordSub

◆ genVelSub

◆ jointStateSub

◆ jointStateCmdSub

◆ contactStateSub

◆ genCoordLogPub

◆ genVelLogPub

◆ jointStatePub

◆ jointStateCmdPub

◆ rosPublishQueue

◆ rosProcessQueue

◆ rosPublishQueueThread

◆ rosProcessQueueThread