From 0d8e36777c499ce91da6ef87f8e7c3ae2a71c2cb Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Mon, 14 Jan 2019 20:09:15 +0100
Subject: [PATCH] Modernize code and add comments
---
.../RobotUnitModuleLogging.cpp | 19 +++++++++++--------
1 file changed, 11 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index f8076eb42..d5db6382a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -335,18 +335,19 @@ namespace armarx
}
//sens
{
+ //sensors
for (std::size_t idxDev = 0; idxDev < data.sensors.size(); ++ idxDev)
{
const SensorValueBase* val = data.sensors.at(idxDev);
+ //dimensions of sensor value (e.g. vel, tor, f_x, f_y, ...)
for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields(); ++ idxField)
{
const auto str = val->getDataFieldAsString(idxField);
- for (auto& pair : rtLoggingEntries)
+ for (auto& [_, entry] : rtLoggingEntries)
{
- CSVLoggingEntry& e = *pair.second;
- if (e.loggedSensorDeviceValues.at(idxDev).at(idxField))
+ if (entry->loggedSensorDeviceValues.at(idxDev).at(idxField))
{
- pair.second->stream << ";" << str;
+ entry->stream << ";" << str;
}
}
}
@@ -354,21 +355,23 @@ namespace armarx
}
//ctrl
{
+ //joint controllers
for (std::size_t idxDev = 0; idxDev < data.control.size(); ++ idxDev)
{
const auto& vals = data.control.at(idxDev);
+ //control value (e.g. v_platform)
for (std::size_t idxVal = 0; idxVal < vals.size(); ++idxVal)
{
const ControlTargetBase* val = vals.at(idxVal);
+ //dimensions of control value (e.g. v_platform_x, v_platform_y, v_platform_rotate)
for (std::size_t idxField = 0; idxField < val->getNumberOfDataFields(); ++ idxField)
{
const auto str = val->getDataFieldAsString(idxField);
- for (auto& pair : rtLoggingEntries)
+ for (auto& [_, entry] : rtLoggingEntries)
{
- CSVLoggingEntry& e = *pair.second;
- if (e.loggedControlDeviceValues.at(idxDev).at(idxVal).at(idxField))
+ if (entry->loggedControlDeviceValues.at(idxDev).at(idxVal).at(idxField))
{
- pair.second->stream << ";" << str;
+ entry->stream << ";" << str;
}
}
}
--
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