File data_collector.hpp¶

Abstract interface DataCollector to collect data inside a specific library.

License:: BSD 3-clause

Copyright: Copyright (c) 2020, New York University and Max Planck Gesellschaft

namespace mim_estimation

namespace io_tools¶

class DataCollector

#include <data_collector.hpp>

Subclassed by mim_estimation::io_tools::NonRtDataCollector

Public Functions

inline DataCollector()

inline virtual ~DataCollector()

virtual void addVariable(const double *data, const std::string &name, const std::string &units) = 0: virtual functions to add variables to data collection for different types

virtual void addVariable(const float *data, const std::string &name, const std::string &units) = 0

virtual void addVariable(const int *data, const std::string &name, const std::string &units) = 0

virtual void updateDataCollection() = 0: virtual function to update the collection with the recently added variables

virtual void stopDataCollection() = 0

virtual void startDataCollection() = 0

virtual bool isDataCollectionDone() = 0: virtual function to check whether data collection has completed:

void addVector(const Eigen::Ref<const Eigen::VectorXd> &data, const std::vector<std::string> &name, const std::vector<std::string> &units)

helper functions to unroll eigen vectors into simpler types that can be handled by the addVariable functions

arbitrary Eigen Vectors

void addVector(const Eigen::Ref<const Eigen::VectorXd> &data, const std::string &name, const std::vector<std::string> &extension, const std::vector<std::string> &units): extension contains the list of strings to be appended to name for each elem of data

void addVector(const Eigen::Ref<const Eigen::VectorXd> &data, const std::string &name, const std::string &unit): will just add 0,1,2..etc as extension to name

void addVector3d(const Eigen::Ref<const Eigen::Vector3d> &data, const std::string &name, const std::string &units): the actual recorded names will be name_x, name_y, name_z

void addVector3d(const Eigen::Ref<const Eigen::Vector3d> &data, const std::string &name, const std::string &units, const std::string &extension): the actual recorded names will be name_x, name_y, name_z plus extension

void addQuaternion(const Eigen::Ref<const Eigen::Vector4d> &data, const std::string &name): the actual recorded names will be name_q0, name_q1, name_q2, name_q3 with units “-”

void addQuaternion(const Eigen::Quaterniond &data, const std::string &name): the actual recorded names will be name_q0, name_q1, name_q2, name_q3 with units “-”

void addVector6d(const Eigen::Ref<const Eigen::Matrix<double, 6, 1>> &data, const std::string &name, const std::string &units): the actual recorded names will have extension x,y,z,a,b,g

void addMatrix(const Eigen::Ref<const Eigen::MatrixXd> &data, const std::string &name, const std::string &unit): arbitrary Eigen matrices (will just add matrix indes as extension to name, eg 11, 12, 21, 22