logging.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_LOGGING_HPP
#define ACADO_TOOLKIT_LOGGING_HPP

#include <acado/utils/acado_utils.hpp>
#include <acado/user_interaction/log_record.hpp>

BEGIN_NAMESPACE_ACADO

static LogRecord emptyLogRecord;

class Logging
{
        friend class AlgorithmicBase;
        
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:

                Logging( );

                virtual ~Logging( );

                int operator<<( LogRecord& record
                                                );

                int addLogRecord(       LogRecord& record
                                                        );

                returnValue getLogRecord(       LogRecord& _record
                                                                        ) const;

                returnValue updateLogRecord(    LogRecord& _record
                                                                                ) const;

                inline returnValue getAll(      LogName _name,
                                                                        MatrixVariablesGrid& values
                                                                        ) const;

                inline returnValue getFirst(    LogName _name,
                                                                                DMatrix& firstValue
                                                                                ) const;

                inline returnValue getFirst(    LogName _name,
                                                                                VariablesGrid& firstValue
                                                                                ) const;

                inline returnValue getLast(     LogName _name,
                                                                        DMatrix& lastValue
                                                                        ) const;

                inline returnValue getLast(     LogName _name,
                                                                        VariablesGrid& lastValue
                                                                        ) const;

                inline returnValue setAll(      LogName _name,
                                                                        const MatrixVariablesGrid& values
                                                                        );


                inline returnValue setLast(     LogName _name,
                                                                        const DMatrix& value,
                                                                        double time = -INFTY
                                                                        );

                inline returnValue setLast(     LogName _name,
                                                                        VariablesGrid& value,
                                                                        double time = -INFTY
                                                                        );

                uint getNumLogRecords( ) const;


                returnValue printLoggingInfo( ) const;

                returnValue printNumDoubles( ) const;

    //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:

                virtual returnValue setupLogging( );

    //
    // DATA MEMBERS:
    //
        protected:
                std::vector< LogRecord > logCollection;
                int logIdx;
};

CLOSE_NAMESPACE_ACADO

#include <acado/user_interaction/logging.ipp>

#endif  // ACADO_TOOLKIT_LOGGING_HPP

/*
 *      end of file
 */