ORCA: Optimization-based framework for Robotic Control Applications
Logger.h
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1 //| This file is a part of the ORCA framework.
2 //|
3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
5 //|
6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
8 //|
9 //| ORCA is a whole-body reactive controller framework for robotics.
10 //|
11 //| This software is governed by the CeCILL-C license under French law and
12 //| abiding by the rules of distribution of free software. You can use,
13 //| modify and/ or redistribute the software under the terms of the CeCILL-C
14 //| license as circulated by CEA, CNRS and INRIA at the following URL
15 //| "http://www.cecill.info".
16 //|
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36 
37 #pragma once
38 
39 #include <plog/Log.h>
40 
41 
42 namespace orca
43 {
44  namespace utils
45  {
46 
47  enum class LogLevel
48  {
49  none = 0,
50  fatal = 1,
51  error = 2,
52  warning = 3,
53  info = 4,
54  debug = 5,
55  verbose = 6
56  };
57 
58  struct Logger
59  {
60  Logger();
61  static void setLogLevel(LogLevel log_level);
62  static void setLogLevel(int log_level);
63  static void setLogLevel(const std::string& log_level);
64  static void parseArgv(int argc,char ** argv);
65  static void parseArgv(const std::vector<std::string>& v);
66  static void parseArgv(int argc,char const* argv[]);
67  };
68  }
69 }
70 
71 #ifdef _WIN32
72 #include <Eigen/Dense>
73 #include <sstream>
74 namespace plog
75 {
76  template <typename Derived>
77  Record& operator<<(Record& record, const Eigen::MatrixBase<Derived>& a)
78  {
79  std::stringstream ss;
80  ss << a;
81  return record << ss.str();
82  }
83  template <typename Derived>
84  Record& operator<<(Record& record, const Eigen::Transpose<const Derived>& a)
85  {
86  std::stringstream ss;
87  ss << a;
88  return record << ss.str();
89  }
90 }
91 #endif
Definition: Logger.cc:6
Definition: Logger.h:58
LogLevel
Definition: Logger.h:47
Definition: CartesianAccelerationPID.h:44