log.h

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// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <vector>
 
#include <franka/control_types.h>
#include <franka/robot_state.h>
 
namespace franka {
 
struct RobotCommand {
  JointPositions joint_positions{0, 0, 0, 0, 0, 0, 0};
  JointVelocities joint_velocities{0, 0, 0, 0, 0, 0, 0};
  CartesianPose cartesian_pose{1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1};
  CartesianVelocities cartesian_velocities{0, 0, 0, 0, 0, 0};
  Torques torques{0, 0, 0, 0, 0, 0, 0};
};
 
struct Record {
  RobotState state;
  RobotCommand command;
};
 
std::string logToCSV(const std::vector<Record>& log);
}  // namespace franka