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#ifndef LOGGER_HPP
#define LOGGER_HPP

#include <string>
#include <iostream>
#include <fstream>
#include <sstream>

class Logger
{

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#ifndef TIMER_HPP
#define TIMER_HPP

#include <chrono>

template
<
typename numeric,
typename ratio = std::milli,
typename clock = std::chrono::high_resolution_clock

alifahrri

sudo apt-get install cmake libgtest-dev
cd /usr/src/gtest
sudo cmake CMakeLists.txt
sudo make
 
# copy or symlink libgtest.a and libgtest_main.a to your /usr/lib folder
sudo cp *.a /usr/lib

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#define gpuErrchk(ans) { gpuAssert((ans), __FILE__, __LINE__); }
inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort=true)
{
   if (code != cudaSuccess) 
   {
      fprintf(stderr,"GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line);
      if (abort) exit(code);
   }
}

alifahrri

add breakpoint

(gdb) break filename.ext:line

list breakpoint

(gdb) info break

disable breakpoint

(gdb) disable 1 disable breakpoint 1

backtrace function call

(gdb) bt

examining the stack

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#include <tf2/LinearMath/Quaternion.h>
#include <tf/transform_datatypes.h>
...
tf2::Quaternion myQuaternion;
myQuaternion.setRPY( 0, 0, 0 );  // Create this quaternion from roll/pitch/yaw (in radians)
ROS_INFO_STREAM(q);  // Print the quaternion components (0,0,0,1)
...
quaternionMsgToTF(quat_msg , quat_tf);

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setup.py

from distutils.core import setup
from Cython.Build import cythonize

setup(
    ext_modules = cythonize("helloworld.pyx")
)

all *.pyx files in a folder

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def norm_angle(dw) :
     if math.fabs(dw) > math.pi :
             return (-2*math.pi + dw) if dw > 0 else (2*math.pi + dw)
     else : return dw

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yaml

XmlRpc::XmlRpcValue my_list;
nh.getParam("my_list", my_list);
ROS_ASSERT(my_list.getType() == XmlRpc::XmlRpcValue::TypeArray);

for (int32_t i = 0; i < my_list.size(); ++i) 
{
  ROS_ASSERT(my_list[i].getType() == XmlRpc::XmlRpcValue::TypeDouble);
 sum += static_cast(my_list[i]);

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playback in gui

gazebo -u -p ~/logs/double_pendulum/2016-01-25T15\:09\:49.677400/gzserver/state.log

from gazebo_ros

rosrun gazebo_ros gazebo --prefix '-u -p 2018-11-20T162127.065690/gzserver/state.log'