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e52e2b88ed
* Add primitive logging for Ekf * Add python script to extract sensor data from ULog * Add primitive sensor replay * Add iris_gps data for sensor replay * Add CI for functional change indication * Update sensor replay flow data type * update iris_gps_change indication * test: Update EKF replay test documentation Co-authored-by: Paul Riseborough <priseborough@users.noreply.github.com>
75 lines
2.6 KiB
C++
75 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Class to write EKF state to file
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#pragma once
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#include "EKF/ekf.h"
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#include "EKF/estimator_interface.h"
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#include "ekf_wrapper.h"
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#include <fstream>
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#include <iostream>
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class EkfLogger
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{
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public:
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EkfLogger(std::shared_ptr<Ekf> ekf);
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~EkfLogger();
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void setFilePath(std::string file_path);
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void enableStateLogging(){ _state_logging_enabled = true; };
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void disableStateLogging(){ _state_logging_enabled = false; };
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void enableVarianceLogging(){ _variance_logging_enabled = true; };
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void disableVarianceLogging(){ _variance_logging_enabled = false; };
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void writeStateToFile();
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private:
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std::shared_ptr<Ekf> _ekf;
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EkfWrapper _ekf_wrapper;
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std::string _file_path;
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std::ofstream _file;
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bool _file_opened {false};
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bool _state_logging_enabled {true};
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bool _variance_logging_enabled {true};
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void writeState();
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};
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