pitasc_library - skills/logging/skill_logging.xml
Model definitions
line 9: skill_log_cartesian
line 77: skill_log_force
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<pitasc>
4
5 <models>
6 <include package="pitasc_library" file="skills/skill_cartesian.xml"/>
7 <include package="pitasc_library" file="scripts/logging.xml"/>
8
9 <type id="skill_log_cartesian" prototype="skill_cartesian">
10 <meta>
11 <member id="description">Logs position and/or orientation of a frame w.r.t. a reference skill into a file</member>
12 </meta>
13
14 <data>
15 <type id="reference_frame" prototype="string_parameter">
16 <meta>
17 <member id="description">Defines the reference frame (origin and axes) for the logged cartesian data</member>
18 <member id="visibility">required</member>
19 </meta>
20 </type>
21
22 <type id="measured_frame" prototype="string_parameter">
23 <meta>
24 <member id="description">The frame which cartesian data is logged</member>
25 <member id="visibility">required</member>
26 </meta>
27 </type>
28
29 <type id="file_name" prototype="string_parameter">
30 <meta>
31 <member id="description">Full path and name (incl. extension) of logging file.
32 Non-existing directories are created.
33 The following artifacts (enclosed by curly brackets) are dynamically resolved:
34 '{rospkg (..)]}': full path to rospackge (..) (cf. roscd);
35 '{time (..)}': current time with respective formating (..) (cf. std::strftime)</member>
36 <member id="visibility">required</member>
37 </meta>
38 </type>
39 <type id="buffer_length" prototype="int_parameter">
40 <meta>
41 <member id="description">Initial length of the preallocated buffer during logging.
42 buffer_length = #samples * (#logged_coordinates + 1).
43 May be extended on the fly.</member>
44 <member id="visibility">expert</member>
45 </meta>
46 <data>512</data>
47 </type>
48 <type id="filter" prototype="string_csv">
49 <meta>
50 <member id="description">Explicit names of the measurements to be logged.</member>
51 <member id="visibility">basic</member>
52 </meta>
53 <data></data>
54 </type>
55
56 <!-- Implementation details below: -->
57
58 <member id="target_frame" reference_id="reference_frame" />
59 <member id="target_frame.meta.visibility">hidden</member>
60
61 <member id="tool_frame" reference_id="measured_frame" />
62 <member id="tool_frame.meta.visibility">hidden</member>
63
64 <member id="scripts">
65 <clone prototype="script_measurement_logger">
66 <member id="provider" reference_id="collections.target_to_tool.chains"/>
67 <member id="file_name" reference_id="file_name" />
68 <member id="buffer_length" reference_id="buffer_length" />
69 <member id="filter" reference_id="filter" />
70 <member id="use_simple_filter_keys">True</member>
71 </clone>
72 </member>
73
74 </data>
75 </type>
76
77 <type id="skill_log_force" prototype="skill_force">
78 <meta>
79 <member id="description">Logs a force/torque in a desired frame into a file</member>
80 </meta>
81
82 <data>
83 <member id="force_frame.meta.description">Frame defining the desired position and axes for measuring force and torque</member>
84
85 <type id="file_name" prototype="string_parameter">
86 <meta>
87 <member id="description">Full path and name (incl. extension) of logging file.
88 Non-existing directories are created.
89 The following artifacts (enclosed by curly brackets) are dynamically resolved:
90 '{rospkg (..)]}': full path to rospackge (..) (cf. roscd);
91 '{time (..)}': current time with respective formating (..) (cf. std::strftime)</member>
92 <member id="visibility">required</member>
93 </meta>
94 </type>
95 <type id="buffer_length" prototype="int_parameter">
96 <meta>
97 <member id="description">Initial length of the preallocated buffer during logging.
98 buffer_length = #samples * (#logged_coordinates + 1).
99 May be extended on the fly.</member>
100 <member id="visibility">expert</member>
101 </meta>
102 <data>512</data>
103 </type>
104 <type id="filter" prototype="string_csv">
105 <meta>
106 <member id="description">Explicit names of the measurements to be logged.</member>
107 <member id="visibility">basic</member>
108 </meta>
109 <data></data>
110 </type>
111
112 <!-- Implementation details below: -->
113
114 <member id="scripts">
115 <clone prototype="script_measurement_logger">
116 <member id="provider" reference_id="collections.force_chain.chains"/>
117 <member id="file_name" reference_id="file_name" />
118 <member id="buffer_length" reference_id="buffer_length" />
119 <member id="filter" reference_id="filter" />
120 <member id="use_simple_filter_keys">True</member>
121 </clone>
122 </member>
123
124 </data>
125 </type>
126
127 </models>
128
129</pitasc>