#include <controller_to_csv.h>

Public Member Functions
	ControllerToCSV (const std::string &topic)
	Constructor. More...

bool	recordAll ()
	Whether to record at a specific frequency, or record all incoming data. More...

void	startRecording (const std::string &file_name)
	Start the data collection. More...

void	stopRecording ()
	End recording. More...

	~ControllerToCSV ()
	Destructor. More...

Private Member Functions
void	stateCB (const control_msgs::JointTrajectoryControllerState::ConstPtr &state)
	Callback from ROS message. More...

void	update (const ros::TimerEvent &e)
	Recieve data from controller via ROS message. More...

bool	waitForSubscriber (const ros::Subscriber &sub, const double &wait_time=10.0)
	Check if topic has been connected to successfully. More...

bool	writeToFile ()
	Send all resulting data to file. More...

Private Attributes
control_msgs::JointTrajectoryControllerState	current_state_

std::string	file_name_

bool	first_update_

std::string	name_ = "controller_to_csv"

ros::NodeHandle	nh_

ros::Timer	non_realtime_loop_

double	record_hz_

bool	recording_started_

ros::Subscriber	state_sub_

std::vector< control_msgs::JointTrajectoryControllerState >	states_

std::vector< ros::Time >	timestamps_

Detailed Description

Definition at line 51 of file controller_to_csv.h.

Constructor & Destructor Documentation

ros_control_boilerplate::ControllerToCSV::ControllerToCSV ( const std::string & topic )

Constructor.

Parameters

topic - ROS message to listen to from controller

Definition at line 51 of file controller_to_csv.cpp.

ros_control_boilerplate::ControllerToCSV::~ControllerToCSV ( )

Destructor.

Definition at line 83 of file controller_to_csv.cpp.

Member Function Documentation

bool ros_control_boilerplate::ControllerToCSV::recordAll ( )

Whether to record at a specific frequency, or record all incoming data.

Definition at line 88 of file controller_to_csv.cpp.

void ros_control_boilerplate::ControllerToCSV::startRecording ( const std::string & file_name )

Start the data collection.

Definition at line 111 of file controller_to_csv.cpp.

void ros_control_boilerplate::ControllerToCSV::stateCB ( const control_msgs::JointTrajectoryControllerState::ConstPtr & state )

private

Callback from ROS message.

Definition at line 93 of file controller_to_csv.cpp.

void ros_control_boilerplate::ControllerToCSV::stopRecording ( )

End recording.

Definition at line 154 of file controller_to_csv.cpp.

void ros_control_boilerplate::ControllerToCSV::update ( const ros::TimerEvent & e )

private

Recieve data from controller via ROS message.

Definition at line 130 of file controller_to_csv.cpp.

bool ros_control_boilerplate::ControllerToCSV::waitForSubscriber	(	const ros::Subscriber &	sub,
		const double &	wait_time = `10.0`
	)

private

Check if topic has been connected to successfully.

Definition at line 216 of file controller_to_csv.cpp.

bool ros_control_boilerplate::ControllerToCSV::writeToFile ( )

private

Send all resulting data to file.

Definition at line 160 of file controller_to_csv.cpp.

Member Data Documentation

control_msgs::JointTrajectoryControllerState ros_control_boilerplate::ControllerToCSV::current_state_

private

Definition at line 108 of file controller_to_csv.h.

std::string ros_control_boilerplate::ControllerToCSV::file_name_

private

Definition at line 101 of file controller_to_csv.h.

bool ros_control_boilerplate::ControllerToCSV::first_update_

private

Definition at line 93 of file controller_to_csv.h.

std::string ros_control_boilerplate::ControllerToCSV::name_ = "controller_to_csv"

private

Definition at line 87 of file controller_to_csv.h.

ros::NodeHandle ros_control_boilerplate::ControllerToCSV::nh_

private

Definition at line 90 of file controller_to_csv.h.

ros::Timer ros_control_boilerplate::ControllerToCSV::non_realtime_loop_

private

Definition at line 111 of file controller_to_csv.h.

double ros_control_boilerplate::ControllerToCSV::record_hz_

private

Definition at line 98 of file controller_to_csv.h.

bool ros_control_boilerplate::ControllerToCSV::recording_started_

private

Definition at line 94 of file controller_to_csv.h.

ros::Subscriber ros_control_boilerplate::ControllerToCSV::state_sub_

private

Definition at line 97 of file controller_to_csv.h.

std::vector<control_msgs::JointTrajectoryControllerState> ros_control_boilerplate::ControllerToCSV::states_

private

Definition at line 104 of file controller_to_csv.h.

std::vector<ros::Time> ros_control_boilerplate::ControllerToCSV::timestamps_

private

Definition at line 105 of file controller_to_csv.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation