Class robot_interfaces::SensorLogger

template<typename Observation, typename InfoType = None>
class SensorLogger

Record sensor observations and store them to a file.

Fetches observations from the given SensorData and buffers them in memory. Buffered observations can be written to a file. For writing to file cereal is used, so the Observation type has to be serializable by cereal.

Usage Example:

auto logger = SensorLogger<int>(sensor_data, BUFFER_LIMIT);
logger.start();
// do something
logger.stop_and_save("/tmp/sensordata.log");

Template Parameters:

Observation – Typ of the observation that is recorded.

Public Types

typedef std::shared_ptr<SensorData<Observation, InfoType>> DataPtr

typedef std::tuple<double, Observation> StampedObservation

typedef std::shared_ptr<SensorData<Observation, InfoType>> DataPtr

typedef std::tuple<double, Observation> StampedObservation

Public Functions

inline SensorLogger(DataPtr sensor_data, size_t buffer_limit)

Initialize the logger.

Parameters:

• sensor_data – Pointer to the SensorData instance from which observations are obtained.

• buffer_limit – Maximum number of observations that are logged. When this limit is reached, the logger will stop automatically, that is new observations are not logged anymore.

SensorLogger(SensorLogger&&) = default

inline ~SensorLogger()

inline void start()

Start logging.

If the logger is already running, this is a noop.

inline void stop()

Stop logging.

If the logger is already stopped, this is a noop.

inline void reset()

Clear the log buffer.

inline void stop_and_save(const std::string &filename)

Stop logging and save logged messages to a file.

Parameters:

filename – Path to the output file. Existing files will be overwritten.

inline SensorLogger(DataPtr sensor_data, size_t buffer_limit)

Initialize the logger.

Parameters:

• sensor_data – Pointer to the SensorData instance from which observations are obtained.

• buffer_limit – Maximum number of observations that are logged. When this limit is reached, the logger will stop automatically, that is new observations are not logged anymore.

SensorLogger(SensorLogger&&) = default

inline ~SensorLogger()

inline void start()

Start logging.

If the logger is already running, this is a noop.

inline void stop()

Stop logging.

If the logger is already stopped, this is a noop.

inline void reset()

Clear the log buffer.

inline void stop_and_save(const std::string &filename)

Stop logging and save logged messages to a file.

Parameters:

filename – Path to the output file. Existing files will be overwritten.