upkie::cpp::observers::HistoryObserver< T > Class Template Reference

Report high-frequency history vectors to lower-frequency agents. More...

#include <HistoryObserver.h>

Public Member Functions
	HistoryObserver (const std::vector< std::string > &keys, size_t size, const T &default_value)
	Initialize observer. More...
std::string	prefix () const noexcept final
	Prefix of outputs in the observation dictionary. More...
void	reset (const Dictionary &config) final
	Reset observer. More...
void	read (const Dictionary &observation) final
	Read inputs from other observations. More...
void	write (Dictionary &observation) final
	Write outputs, called if reading was successful. More...
Public Member Functions inherited from upkie::cpp::observers::Observer
virtual	~Observer ()
	Destructor is virtual to deallocate lists of observers properly.
virtual std::string	prefix () const noexcept
	Prefix of outputs in the observation dictionary. More...
virtual void	reset (const Dictionary &config)
	Reset observer. More...
virtual void	read (const Dictionary &observation)
	Read inputs from other observations. More...
virtual void	write (Dictionary &observation)
	Write outputs, called if reading was successful. More...

Detailed Description

template<typename T>
class upkie::cpp::observers::HistoryObserver< T >

Report high-frequency history vectors to lower-frequency agents.

This observer allows processing higher-frequency signals from the spine as vectors of observations reported to lower-frequency agents.

Constructor & Destructor Documentation

HistoryObserver()

template<typename T >

upkie::cpp::observers::HistoryObserver< T >::HistoryObserver ( const std::vector< std::string > &  keys, size_t  size, const T &  default_value  )

inline

Initialize observer.

Parameters

[in]	keys	List of keys to read values from in input observations.
[in]	size	Size of the history vector.
[in]	default_value	Value to initialize history vectors.

Member Function Documentation

prefix()

template<typename T >

std::string upkie::cpp::observers::HistoryObserver< T >::prefix ( ) const

inlinefinalvirtualnoexcept

Prefix of outputs in the observation dictionary.

Reimplemented from upkie::cpp::observers::Observer.

read()

template<typename T >

void upkie::cpp::observers::HistoryObserver< T >::read ( const Dictionary &  observation )

inlinefinalvirtual

Read inputs from other observations.

Parameters

[in]

observation

Dictionary to read other observations from.

Reimplemented from upkie::cpp::observers::Observer.

reset()

template<typename T >

void upkie::cpp::observers::HistoryObserver< T >::reset ( const Dictionary &  config )

inlinefinalvirtual

Reset observer.

Parameters

[in]

config

Configuration dictionary.

Reimplemented from upkie::cpp::observers::Observer.

write()

template<typename T >

void upkie::cpp::observers::HistoryObserver< T >::write ( Dictionary &  observation )

inlinefinalvirtual

Write outputs, called if reading was successful.

Parameters

[out]

observation

Dictionary to write observations to.

Reimplemented from upkie::cpp::observers::Observer.

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The documentation for this class was generated from the following file:

• upkie/cpp/observers/HistoryObserver.h