Logging

Building Moby for logging

• -DNDEBUG must not be activated

Logging options for moby-driver

• -l=x (where x is a natural number) turns on logging for the particular aspect of Moby:

  • 1: logs general simulator data
  • 2: logs unilateral constraint solving data
  • 4: logs multi-body dynamics data (Featherstone/Composite-Rigid-Body Algorithm quantities)
  • 8: logs bounding volume data
  • 16: unused
  • 32: logs collision detection data
  • 64: logs computational geometry routines
  • 128: logs linear algebraic routines
  • 256: logs optimization routines

  Note that numbers can be or'd together to log multiple data sources. For example -l=7 will log general simulator data, unilateral constraint solving data, and multi-body dynamics data.

• -lt=x (where x is a natural number) starts logging at a particular simulation iteration (x).

• -lp=x (where x is a natural number) stops logging at a particular simulation iteration (x).

Turning on logging from code

• To set the logging type, set reporting_level according to the same options as with moby-driver

  Moby::Log<Moby::OutputToFile>::reporting_level = x;

• To specify the logging output, open OutputToFile::stream in append mode and specify your log file

  Moby::OutputToFile::stream.open("logfile.txt", std::ofstream::out | std::ofstream::app);

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