6 #ifndef HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
7 #define HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
13 #include <Eigen/Dense>
18 #include "boost/assign.hpp"
26 #define LOGGER_VERBOSITY_ALL
28 #define SEND_MSG(msg, type) getLogger().sendMsg(msg, type, __FILE__, __LINE__)
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)
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)
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)
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)
84 MSG_TYPE_ERROR_STREAM = 7
96 const std::string separator =
", ") {
98 for (
int i = 0; i < v.size() - 1; i++) ss << v[i] << separator;
99 ss << v[v.size() - 1];
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;
125 Logger(
double timeSample = 0.001,
double streamPrintPeriod = 1.0);
139 void sendMsg(std::string msg, MsgType type,
const char* file =
"",
144 bool setTimeSample(
double t);
147 bool setStreamPrintPeriod(
double s);
Definition: logger.hh:122
double m_streamPrintPeriod
specify the period of call of the countdown method
Definition: logger.hh:155
bool isInfoMsg(MsgType m)
Definition: logger.hh:172
bool isStreamMsg(MsgType m)
Definition: logger.hh:163
double m_printCountdown
specify the time period of the stream prints
Definition: logger.hh:156
std::map< std::string, double > m_stream_msg_counters
Definition: logger.hh:161
bool isWarningMsg(MsgType m)
Definition: logger.hh:176
bool isErrorMsg(MsgType m)
Definition: logger.hh:180
double m_timeSample
verbosity of the logger
Definition: logger.hh:154
LoggerVerbosity m_lv
Definition: logger.hh:153
bool isDebugMsg(MsgType m)
Definition: logger.hh:168
void setVerbosity(LoggerVerbosity lv)
~Logger()
Definition: logger.hh:128
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
MSG_TYPE_ERROR
Definition: logger.hh:80
MSG_TYPE_INFO_STREAM
Definition: logger.hh:82
MSG_TYPE_INFO
Definition: logger.hh:78
MSG_TYPE_DEBUG_STREAM
Definition: logger.hh:81
VERBOSITY_INFO_WARNING_ERROR
Definition: logger.hh:114
MSG_TYPE_WARNING_STREAM
Definition: logger.hh:83
VERBOSITY_WARNING_ERROR
Definition: logger.hh:115
VERBOSITY_ERROR
Definition: logger.hh:116
MSG_TYPE_DEBUG
Definition: logger.hh:77
MSG_TYPE_WARNING
Definition: logger.hh:79
VERBOSITY_ALL
Definition: logger.hh:113
Definition: centroidal_dynamics.hh:14
std::string toString(const T &v)
Definition: logger.hh:88
Logger & getLogger()
Definition: logger.cpp:22