sas::DataloggerClient Class Reference

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 (int server_count=1) const
	Check if the datalogger is enabled (publisher is valid).
void	log (const std::string &name, const Eigen::Ref< const MatrixXd > &value)
	Log a matrix (MatrixXd) or vector (VectorXd) 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

Client for publishing log data.

DataloggerClient provides methods 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

(

int

server_count = 1

)

const

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

Returns

true when enabled and ready to publish messages.

false otherwise.

log() [1/4]

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() [2/4]

void sas::DataloggerClient::log	(	const std::string &	name,
		const Eigen::Ref< const MatrixXd > &	value )

Log a matrix (MatrixXd) or vector (VectorXd) value under the given name.

Parameters

name	Key/name under which the value will be logged.
value	the Eigen::Ref<const MatrixXd> value to log.

log() [3/4]

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() [4/4]

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.

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