Log.h

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#pragma once
 
#include <chrono>
#include <nlohmann/json.hpp>
 
#include <base/Primitives.h>
#include <ompl/control/PathControl.h>
#include "base/PathStatistics.hpp"
 
class Log {
 public:
  static void instantiateRun();
 
  static void log(const PathStatistics &stats);
  static void log(const nlohmann::json &stats);
 
  static void storeRun();
 
  static void save(std::string filename = "", const std::string &path = "log/");
 
  static std::string filename();
 
  static std::vector<std::array<double, 2>> serializePath(
      const std::vector<Point> &path);
  static std::vector<std::array<double, 3>> serializeTrajectory(
      const ompl::geometric::PathGeometric &traj, bool interpolate = true);
 
  static std::vector<std::array<double, 3>> serializeTrajectory(
      const ompl::control::PathControl &traj, bool interpolate = true);
 
 private:
  static nlohmann::json _json;
  static nlohmann::json _currentRun;
};