Modernize code and add comments

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;
                                         }
                                     }
                                 }