hpp-centroidal-dynamics: include/hpp/centroidal-dynamics/logger.hh Source File

hpp-centroidal-dynamics 9.0.2 Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods.

logger.hh
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1 /*
2 * Copyright 2015, LAAS-CNRS
3 * Author: Andrea Del Prete
4 */
5
6 #ifndef HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
7 #define HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
8
9 /* --------------------------------------------------------------------- */
10 /* --- INCLUDE --------------------------------------------------------- */
11 /* --------------------------------------------------------------------- */
12
13 #include <Eigen/Dense>
14 #include <hpp/centroidal-dynamics/local_config.hh>
15 #include <map>
16 #include <sstream>
17
18 #include "boost/assign.hpp"
19
20 namespace centroidal_dynamics {
21
22 // #define LOGGER_VERBOSITY_ERROR
23 // #define LOGGER_VERBOSITY_WARNING_ERROR
24 // #define LOGGER_VERBOSITY_INFO_WARNING_ERROR
25 // #define LOGGER_VERBOSITY_ALL
26 #define LOGGER_VERBOSITY_ALL
27
28 #define SEND_MSG(msg, type) getLogger().sendMsg(msg, type, __FILE__, __LINE__)
29
30 #ifdef LOGGER_VERBOSITY_ERROR
31 #define SEND_DEBUG_MSG(msg)
32 #define SEND_INFO_MSG(msg)
33 #define SEND_WARNING_MSG(msg)
34 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
35 #define SEND_DEBUG_STREAM_MSG(msg)
36 #define SEND_INFO_STREAM_MSG(msg)
37 #define SEND_WARNING_STREAM_MSG(msg)
38 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
39 #endif
40
41 #ifdef LOGGER_VERBOSITY_WARNING_ERROR
42 #define SEND_DEBUG_MSG(msg)
43 #define SEND_INFO_MSG(msg)
44 #define SEND_WARNING_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING)
45 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
46 #define SEND_DEBUG_STREAM_MSG(msg)
47 #define SEND_INFO_STREAM_MSG(msg) \
48 #define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
49 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
50 #endif
51
52 #ifdef LOGGER_VERBOSITY_INFO_WARNING_ERROR
53 #define SEND_DEBUG_MSG(msg)
54 #define SEND_INFO_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO)
55 #define SEND_WARNING_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING)
56 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
57 #define SEND_DEBUG_STREAM_MSG(msg)
58 #define SEND_INFO_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO_STREAM)
59 #define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
60 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
61 #endif
62
63 #ifdef LOGGER_VERBOSITY_ALL
64 #define SEND_DEBUG_MSG(msg) SEND_MSG(msg, MSG_TYPE_DEBUG)
65 #define SEND_INFO_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO)
66 #define SEND_WARNING_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING)
67 #define SEND_ERROR_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR)
68 #define SEND_DEBUG_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_DEBUG_STREAM)
69 #define SEND_INFO_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_INFO_STREAM)
70 #define SEND_WARNING_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_WARNING_STREAM)
71 #define SEND_ERROR_STREAM_MSG(msg) SEND_MSG(msg, MSG_TYPE_ERROR_STREAM)
72 #endif
73
76 enum CENTROIDAL_DYNAMICS_DLLAPI MsgType {
77 MSG_TYPE_DEBUG = 0,
78 MSG_TYPE_INFO = 1,
79 MSG_TYPE_WARNING = 2,
80 MSG_TYPE_ERROR = 3,
81 MSG_TYPE_DEBUG_STREAM = 4,
82 MSG_TYPE_INFO_STREAM = 5,
83 MSG_TYPE_WARNING_STREAM = 6,
84 MSG_TYPE_ERROR_STREAM = 7
85 };
86
87 template <typename T>
88 std::string toString(const T& v) {
89 std::stringstream ss;
90 ss << v;
91 return ss.str();
92 }
93
94 template <typename T>
95 std::string toString(const std::vector<T>& v,
96 const std::string separator = ", ") {
97 std::stringstream ss;
98 for (int i = 0; i < v.size() - 1; i++) ss << v[i] << separator;
99 ss << v[v.size() - 1];
100 return ss.str();
101 }
102
103 template <typename T, int n>
104 std::string toString(const Eigen::MatrixBase<T>& v,
105 const std::string separator = ", ") {
106 if (v.rows() > v.cols()) return toString(v.transpose(), separator);
107 std::stringstream ss;
108 ss << v;
109 return ss.str();
110 }
111
112 enum CENTROIDAL_DYNAMICS_DLLAPI LoggerVerbosity {
113 VERBOSITY_ALL,
114 VERBOSITY_INFO_WARNING_ERROR,
115 VERBOSITY_WARNING_ERROR,
116 VERBOSITY_ERROR,
117 VERBOSITY_NONE
118 };
119
122 class CENTROIDAL_DYNAMICS_DLLAPI Logger {
123 public:
125 Logger(double timeSample = 0.001, double streamPrintPeriod = 1.0);
126
128 ~Logger() {}
129
132 void countdown();
133
139 void sendMsg(std::string msg, MsgType type, const char* file = "",
140 int line = 0);
141
144 bool setTimeSample(double t);
145
147 bool setStreamPrintPeriod(double s);
148
150 void setVerbosity(LoggerVerbosity lv);
151
152 protected:
153 LoggerVerbosity m_lv;
154 double m_timeSample;
155 double m_streamPrintPeriod;
156 double m_printCountdown;
158
161 std::map<std::string, double> m_stream_msg_counters;
162
163 bool isStreamMsg(MsgType m) {
164 return m == MSG_TYPE_ERROR_STREAM || m == MSG_TYPE_DEBUG_STREAM ||
165 m == MSG_TYPE_INFO_STREAM || m == MSG_TYPE_WARNING_STREAM;
166 }
167
168 bool isDebugMsg(MsgType m) {
169 return m == MSG_TYPE_DEBUG_STREAM || m == MSG_TYPE_DEBUG;
170 }
171
172 bool isInfoMsg(MsgType m) {
173 return m == MSG_TYPE_INFO_STREAM || m == MSG_TYPE_INFO;
174 }
175
176 bool isWarningMsg(MsgType m) {
177 return m == MSG_TYPE_WARNING_STREAM || m == MSG_TYPE_WARNING;
178 }
179
180 bool isErrorMsg(MsgType m) {
181 return m == MSG_TYPE_ERROR_STREAM || m == MSG_TYPE_ERROR;
182 }
183 };
184
186 Logger& getLogger();
187
188 } // namespace centroidal_dynamics
189
190 #endif // HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
centroidal_dynamics::Logger
Definition: logger.hh:122
centroidal_dynamics::Logger::m_streamPrintPeriod
double m_streamPrintPeriod
specify the period of call of the countdown method
Definition: logger.hh:155
centroidal_dynamics::Logger::isInfoMsg
bool isInfoMsg(MsgType m)
Definition: logger.hh:172
centroidal_dynamics::Logger::isStreamMsg
bool isStreamMsg(MsgType m)
Definition: logger.hh:163
centroidal_dynamics::Logger::m_printCountdown
double m_printCountdown
specify the time period of the stream prints
Definition: logger.hh:156
centroidal_dynamics::Logger::m_stream_msg_counters
std::map< std::string, double > m_stream_msg_counters
Definition: logger.hh:161
centroidal_dynamics::Logger::isWarningMsg
bool isWarningMsg(MsgType m)
Definition: logger.hh:176
centroidal_dynamics::Logger::isErrorMsg
bool isErrorMsg(MsgType m)
Definition: logger.hh:180
centroidal_dynamics::Logger::m_timeSample
double m_timeSample
verbosity of the logger
Definition: logger.hh:154
centroidal_dynamics::Logger::m_lv
LoggerVerbosity m_lv
Definition: logger.hh:153
centroidal_dynamics::Logger::isDebugMsg
bool isDebugMsg(MsgType m)
Definition: logger.hh:168
centroidal_dynamics::Logger::setVerbosity
void setVerbosity(LoggerVerbosity lv)
centroidal_dynamics::Logger::~Logger
~Logger()
Definition: logger.hh:128
local_config.hh
CENTROIDAL_DYNAMICS_DLLAPI
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
MSG_TYPE_ERROR
MSG_TYPE_ERROR
Definition: logger.hh:80
MSG_TYPE_INFO_STREAM
MSG_TYPE_INFO_STREAM
Definition: logger.hh:82
MSG_TYPE_INFO
MSG_TYPE_INFO
Definition: logger.hh:78
MSG_TYPE_DEBUG_STREAM
MSG_TYPE_DEBUG_STREAM
Definition: logger.hh:81
VERBOSITY_INFO_WARNING_ERROR
VERBOSITY_INFO_WARNING_ERROR
Definition: logger.hh:114
MSG_TYPE_WARNING_STREAM
MSG_TYPE_WARNING_STREAM
Definition: logger.hh:83
VERBOSITY_WARNING_ERROR
VERBOSITY_WARNING_ERROR
Definition: logger.hh:115
VERBOSITY_ERROR
VERBOSITY_ERROR
Definition: logger.hh:116
MSG_TYPE_DEBUG
MSG_TYPE_DEBUG
Definition: logger.hh:77
MSG_TYPE_WARNING
MSG_TYPE_WARNING
Definition: logger.hh:79
VERBOSITY_ALL
VERBOSITY_ALL
Definition: logger.hh:113
centroidal_dynamics
Definition: centroidal_dynamics.hh:14
centroidal_dynamics::toString
std::string toString(const T &v)
Definition: logger.hh:88
centroidal_dynamics::getLogger
Logger & getLogger()
Definition: logger.cpp:22