Detailed Description

A class for calling sleep() in a loop, such that the amount of sleep time will be computed to make the loop run at the desired rate (in Hz).

This class implements a PI controller on top of a vanilla CRateTimer object, ensuring a high accuracy in achieved execution rates. Note that this is done by setting a slightly-higher rate ("control action") to the internal CRateTimer, such that the error between the user-provided expected rate and the actual measured rate (low-pass filtered) is decreased by means of a PI controller.

Note that rates higher than a few kHz are not attainable in all CPUs and/or kernel versions. Find below some graphs illustrating how this class tries to achieve a constant setpoint rate (given by the user), reacting to changes in the setpoint values:

controlled rate timer plots

This graphs is generated with the example:

system_control_rate_timer_example --rate1 2000.0 --rate2 4000.0

All the parameters for the PI controller and low-pass filter (rate estimator) are settable by the user to adapt them to specific needs.

Note: Control law by Francisco Jose Mañas Alvarez; [New in MRPT 2.0.4]

Definition at line 47 of file CControlledRateTimer.h.

#include <mrpt/system/CControlledRateTimer.h>

Inheritance diagram for mrpt::system::CControlledRateTimer:

Public Member Functions
Main API
	CControlledRateTimer (const double rate_hz=1.0)
	Ctor: specifies the desired rate (Hz) More...

virtual	~CControlledRateTimer ()=default
	Dtor. More...

void	setRate (const double rate_hz)
	Changes the object loop rate (Hz) More...

bool	sleep ()
	Sleeps for some time, such as the return of this method is 1/rate (seconds) after the return of the previous call. More...

PI control parameters
double	controllerParam_Kp () const
	PI controller Kp parameter [default=1.0]. More...

void	controllerParam_Kp (double v)

double	controllerParam_Ti () const
	PI controller Ti parameter [default=0.0194]. More...

void	controllerParam_Ti (double v)

double	lowPassParam_a0 () const
	Low-pass filter a0 value [default=0.9]: estimation = a0input + (1-a0)former_estimation. More...

void	lowPassParam_a0 (double v)

double	followErrorRatioToRaiseWarning () const
	Get/set ratio threshold for issuing a warning (via COutputLogger interface) if the achieved rate is not this close to the set-point [Default=0.2, =20%]. More...

void	followErrorRatioToRaiseWarning (double v)

double	actualControlledRate () const
	Gets the actual controller output: the rate (Hz) of the internal CRateTimer object. More...

double	estimatedRate () const
	Gets the latest estimated run rate (Hz), which comes from actual period measurement, low-pass filtered. More...

double	estimatedRateRaw () const
	Last actual execution rate measured (Hz), without low-pass filtering. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Member Functions
bool	internalUpdateRateEstimate ()

Private Attributes
double	m_rate_hz = 1.0

mrpt::system::CRateTimer	m_ratetimer
	the one control acts on More...

double	m_lowPass_a0 = 0.99

double	m_Kp = 1.0

double	m_Ti = 0.1

double	m_followErrorRatioForWarning = 0.20

double	m_lastControlError = .0

double	m_currentEstimatedRate = 1.0

double	m_lastRawRate = 1.0

double	m_lastTic = 0

mrpt::system::CTicTac	m_tic

Logging methods
void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

Constructor & Destructor Documentation

◆ CControlledRateTimer()

CControlledRateTimer::CControlledRateTimer ( const double rate_hz = 1.0 )

Ctor: specifies the desired rate (Hz)

Definition at line 20 of file CControlledRateTimer.cpp.

References m_tic, setRate(), and mrpt::system::CTicTac::Tic().

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◆ ~CControlledRateTimer()

virtual mrpt::system::CControlledRateTimer::~CControlledRateTimer ( )

virtualdefault

Dtor.

Member Function Documentation

◆ actualControlledRate()

double mrpt::system::CControlledRateTimer::actualControlledRate ( ) const

inline

Gets the actual controller output: the rate (Hz) of the internal CRateTimer object.

Definition at line 116 of file CControlledRateTimer.h.

References m_ratetimer, and mrpt::system::CRateTimer::rate().

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◆ controllerParam_Kp() [1/2]

double mrpt::system::CControlledRateTimer::controllerParam_Kp ( ) const

inline

PI controller Kp parameter [default=1.0].

Definition at line 74 of file CControlledRateTimer.h.

References m_Kp.

◆ controllerParam_Kp() [2/2]

void mrpt::system::CControlledRateTimer::controllerParam_Kp ( double v )

inline

Definition at line 75 of file CControlledRateTimer.h.

References ASSERT_ABOVE_, and m_Kp.

◆ controllerParam_Ti() [1/2]

double mrpt::system::CControlledRateTimer::controllerParam_Ti ( ) const

inline

PI controller Ti parameter [default=0.0194].

Definition at line 82 of file CControlledRateTimer.h.

References m_Ti.

◆ controllerParam_Ti() [2/2]

void mrpt::system::CControlledRateTimer::controllerParam_Ti ( double v )

inline

Definition at line 83 of file CControlledRateTimer.h.

References ASSERT_ABOVEEQ_, and m_Ti.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ estimatedRate()

double mrpt::system::CControlledRateTimer::estimatedRate ( ) const

inline

Gets the latest estimated run rate (Hz), which comes from actual period measurement, low-pass filtered.

Definition at line 120 of file CControlledRateTimer.h.

References m_currentEstimatedRate.

◆ estimatedRateRaw()

double mrpt::system::CControlledRateTimer::estimatedRateRaw ( ) const

inline

Last actual execution rate measured (Hz), without low-pass filtering.

Definition at line 123 of file CControlledRateTimer.h.

References m_lastRawRate.

◆ followErrorRatioToRaiseWarning() [1/2]

double mrpt::system::CControlledRateTimer::followErrorRatioToRaiseWarning ( ) const

inline

Get/set ratio threshold for issuing a warning (via COutputLogger interface) if the achieved rate is not this close to the set-point [Default=0.2, =20%].

Definition at line 103 of file CControlledRateTimer.h.

References m_followErrorRatioForWarning.

◆ followErrorRatioToRaiseWarning() [2/2]

void mrpt::system::CControlledRateTimer::followErrorRatioToRaiseWarning ( double v )

inline

Definition at line 107 of file CControlledRateTimer.h.

References ASSERT_ABOVE_, ASSERT_BELOWEQ_, and m_followErrorRatioForWarning.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ internalUpdateRateEstimate()

bool CControlledRateTimer::internalUpdateRateEstimate ( )

private

Definition at line 80 of file CControlledRateTimer.cpp.

References m_currentEstimatedRate, m_lastRawRate, m_lastTic, m_lowPass_a0, m_tic, and mrpt::system::CTicTac::Tac().

Referenced by sleep().

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		std::string_view	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ lowPassParam_a0() [1/2]

double mrpt::system::CControlledRateTimer::lowPassParam_a0 ( ) const

inline

Low-pass filter a0 value [default=0.9]: estimation = a0*input + (1-a0)*former_estimation.

Definition at line 91 of file CControlledRateTimer.h.

References m_lowPass_a0.

◆ lowPassParam_a0() [2/2]

void mrpt::system::CControlledRateTimer::lowPassParam_a0 ( double v )

inline

Definition at line 92 of file CControlledRateTimer.h.

References ASSERT_ABOVE_, ASSERT_BELOWEQ_, and m_lowPass_a0.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setRate()

void CControlledRateTimer::setRate ( const double rate_hz )

Changes the object loop rate (Hz)

Definition at line 26 of file CControlledRateTimer.cpp.

References ASSERT_ABOVE_, m_currentEstimatedRate, m_lastControlError, m_lastTic, and m_rate_hz.

Referenced by CControlledRateTimer().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ sleep()

bool CControlledRateTimer::sleep ( )

Sleeps for some time, such as the return of this method is 1/rate (seconds) after the return of the previous call.

Returns: false if the rate could not be achieved ("we are already late"), true if all went right.

Definition at line 37 of file CControlledRateTimer.cpp.

References internalUpdateRateEstimate(), m_currentEstimatedRate, m_followErrorRatioForWarning, m_Kp, m_lastControlError, m_rate_hz, m_ratetimer, m_Ti, MRPT_LOG_THROTTLE_WARN_FMT, mrpt::system::CRateTimer::rate(), mrpt::saturate_val(), mrpt::system::CRateTimer::setRate(), and mrpt::system::CRateTimer::sleep().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_currentEstimatedRate

double mrpt::system::CControlledRateTimer::m_currentEstimatedRate = 1.0

private

Definition at line 138 of file CControlledRateTimer.h.

Referenced by estimatedRate(), internalUpdateRateEstimate(), setRate(), and sleep().

◆ m_followErrorRatioForWarning

double mrpt::system::CControlledRateTimer::m_followErrorRatioForWarning = 0.20

private

Definition at line 134 of file CControlledRateTimer.h.

Referenced by followErrorRatioToRaiseWarning(), and sleep().

◆ m_Kp

double mrpt::system::CControlledRateTimer::m_Kp = 1.0

private

Definition at line 131 of file CControlledRateTimer.h.

Referenced by controllerParam_Kp(), and sleep().

◆ m_lastControlError

double mrpt::system::CControlledRateTimer::m_lastControlError = .0

private

Definition at line 135 of file CControlledRateTimer.h.

Referenced by setRate(), and sleep().

◆ m_lastRawRate

double mrpt::system::CControlledRateTimer::m_lastRawRate = 1.0

private

Definition at line 138 of file CControlledRateTimer.h.

Referenced by estimatedRateRaw(), and internalUpdateRateEstimate().

◆ m_lastTic

double mrpt::system::CControlledRateTimer::m_lastTic = 0

private

Definition at line 139 of file CControlledRateTimer.h.

Referenced by internalUpdateRateEstimate(), and setRate().

◆ m_lowPass_a0

double mrpt::system::CControlledRateTimer::m_lowPass_a0 = 0.99

private

Definition at line 130 of file CControlledRateTimer.h.

Referenced by internalUpdateRateEstimate(), and lowPassParam_a0().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_rate_hz

double mrpt::system::CControlledRateTimer::m_rate_hz = 1.0

private

Definition at line 127 of file CControlledRateTimer.h.

Referenced by setRate(), and sleep().

◆ m_ratetimer

mrpt::system::CRateTimer mrpt::system::CControlledRateTimer::m_ratetimer

private

the one control acts on

Definition at line 128 of file CControlledRateTimer.h.

Referenced by actualControlledRate(), and sleep().

◆ m_Ti

double mrpt::system::CControlledRateTimer::m_Ti = 0.1

private

Definition at line 132 of file CControlledRateTimer.h.

Referenced by controllerParam_Ti(), and sleep().

◆ m_tic

mrpt::system::CTicTac mrpt::system::CControlledRateTimer::m_tic

private

Definition at line 140 of file CControlledRateTimer.h.

Referenced by CControlledRateTimer(), and internalUpdateRateEstimate().

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Logging methods

Constructor & Destructor Documentation

◆ CControlledRateTimer()

◆ ~CControlledRateTimer()

Member Function Documentation

◆ actualControlledRate()

◆ controllerParam_Kp() [1/2]

◆ controllerParam_Kp() [2/2]

◆ controllerParam_Ti() [1/2]

◆ controllerParam_Ti() [2/2]

◆ dumpLogToConsole()

◆ estimatedRate()

◆ estimatedRateRaw()

◆ followErrorRatioToRaiseWarning() [1/2]

◆ followErrorRatioToRaiseWarning() [2/2]

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ internalUpdateRateEstimate()

◆ isLoggingLevelVisible()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ lowPassParam_a0() [1/2]

◆ lowPassParam_a0() [2/2]

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setRate()

◆ setVerbosityLevel()

◆ sleep()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_currentEstimatedRate

◆ m_followErrorRatioForWarning

◆ m_Kp

◆ m_lastControlError

◆ m_lastRawRate

◆ m_lastTic

◆ m_lowPass_a0

◆ m_min_verbosity_level

◆ m_rate_hz

◆ m_ratetimer

◆ m_Ti

◆ m_tic