Struct StateLoggingOptions

pub struct StateLoggingOptions {
    pub object_ids: Vec<BodyId>,
    pub max_log_dof: Option<usize>,
    pub body_a: Option<BodyId>,
    pub link_index_a: Option<Option<usize>>,
    pub body_b: Option<BodyId>,
    pub link_index_b: Option<Option<usize>>,
    pub log_flags: Option<LogFlags>,
    /* private fields */
}

Fields

object_ids: Vec<BodyId>

If left empty, the logger may log every object, otherwise the logger just logs the objects in the list.

max_log_dof: Option<usize>

Maximum number of joint degrees of freedom to log (excluding the base dofs).# This applies to GenericRobot Default value is 12. If a robot exceeds the number of dofs, it won’t get logged at all.

body_a: Option<BodyId>

Applies to ContactPoints. If provided, only log contact points involving body_a.

link_index_a: Option<Option<usize>>

Applies to ContactPoints. If provided, only log contact points involving link_index_a for body_a. Use Some(None) to specify the base.

body_b: Option<BodyId>

Applies to ContactPoints. If provided,only log contact points involving bodyUniqueIdB.

link_index_b: Option<Option<usize>>

Applies to ContactPoints. If provided, only log contact points involving link_index_b for body_b. Use Some(None) to specify the base.

log_flags: Option<LogFlags>

Use JOINT_TORQUES to also log joint torques due to joint motors.

Trait Implementations

impl Debug for StateLoggingOptions

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for StateLoggingOptions

fn default() -> StateLoggingOptions

Returns the “default value” for a type.