sas::DataloggerClient Class Reference

Lightweight client for publishing log data. More...

#include <sas_datalogger_client.hpp>

Inheritance diagram for sas::DataloggerClient:

Public Member Functions
	DataloggerClient (const rclcpp::Node::SharedPtr &node, const size_t &queue_size=100)
	Construct a new DataloggerClient.
bool	is_enabled () const
	Check if the datalogger is enabled (publisher is valid).
void	log (const std::string &name, const MatrixXd &value)
	Log a matrix value under the given name.
void	log (const std::string &name, const VectorXd &value)
	Log a vector value under the given name.
void	log (const std::string &name, const std::vector< double > &value)
	Log a std::vector<double> value under the given name.
void	log (const std::string &name, const double &value)
	Log a scalar double value under the given name.
void	log (const std::string &name, const std::string &value)
	Log a string value under the given name.
void	save (const std::string &filename)
	Request saving the logged data to the specified filename.

Detailed Description

Lightweight client for publishing log data.

DataloggerClient provides helpers to publish various types (matrices, vectors, scalars and strings) as sas_msgs::msg::LogDatum messages. It is intended for runtime logging and can also request saving logged data to a file via the save method.

Constructor & Destructor Documentation

DataloggerClient()

sas::DataloggerClient::DataloggerClient	(	const rclcpp::Node::SharedPtr &	node,
		const size_t &	queue_size = 100
	)

Construct a new DataloggerClient.

Parameters

node	Shared pointer to the ROS2 node used for publishing.
queue_size	Publisher queue size (default: 100).

Member Function Documentation

is_enabled()

bool sas::DataloggerClient::is_enabled

(

)

const

Check if the datalogger is enabled (publisher is valid).

Returns

true when enabled and ready to publish messages.

false otherwise.

log() [1/5]

void sas::DataloggerClient::log	(	const std::string &	name,
		const double &	value
	)

Log a scalar double value under the given name.

Parameters

name	Key/name under which the value will be logged.
value	The double value to log.

log() [2/5]

void sas::DataloggerClient::log	(	const std::string &	name,
		const MatrixXd &	value
	)

Log a matrix value under the given name.

Parameters

name	Key/name under which the value will be logged.
value	The Eigen::MatrixXd value to log.

log() [3/5]

void sas::DataloggerClient::log	(	const std::string &	name,
		const std::string &	value
	)

Log a string value under the given name.

Parameters

name	Key/name under which the value will be logged.
value	The string value to log.

log() [4/5]

void sas::DataloggerClient::log	(	const std::string &	name,
		const std::vector< double > &	value
	)

Log a std::vector<double> value under the given name.

Parameters

name	Key/name under which the value will be logged.
value	The std::vector<double> value to log.

log() [5/5]

void sas::DataloggerClient::log	(	const std::string &	name,
		const VectorXd &	value
	)

Log a vector value under the given name.

Parameters

name	Key/name under which the value will be logged.
value	The Eigen::VectorXd value to log.

save()

void sas::DataloggerClient::save

(

const std::string &

filename

)

Request saving the logged data to the specified filename.

Parameters

filename

Path to the file where data should be saved.

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

• src/sas_datalogger/include/sas_datalogger/sas_datalogger_client.hpp
• src/sas_datalogger/src/sas_datalogger_client.cpp