log.h File Reference

Contains helper types for logging sent commands and received robot states. More...

#include <vector>
#include <franka/control_types.h>
#include <franka/robot_state.h>

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Classes
struct	franka::RobotCommand
	Command sent to the robot. More...
struct	franka::Record
	One row of the log contains a robot command of timestamp n and a corresponding robot state of timestamp n+1. More...

Functions
std::string	franka::logToCSV (const std::vector< Record > &log)
	Writes the log to a string in CSV format.

Detailed Description

Contains helper types for logging sent commands and received robot states.

Function Documentation

logToCSV()

std::string franka::logToCSV

(

const std::vector< Record > &

log

)

Writes the log to a string in CSV format.

If the string is not empty, the first row contains the header with names of columns. The following lines contain rows of values separated by commas.

If the log is empty, the function returns an empty string.

Parameters

[in]

log

Log provided by the ControlException.

Returns

a string in CSV format, or empty string.

Examples

motion_with_control.cpp, and motion_with_control_external_control_loop.cpp.