diff --git a/doc/design_ros_2.md b/doc/design_ros_2.md index 66a439f..8f47cab 100644 --- a/doc/design_ros_2.md +++ b/doc/design_ros_2.md @@ -32,7 +32,9 @@ Design document for ROS 2 tracing, instrumentation, and analysis effort. 2. [Notes on client libraries](#notes-on-client-libraries) 3. [ROS 1/2 compatibility](#ros-12-compatibility) 6. [Tools packages](#tools-packages) -7. [Analysis architecture](#analysis-architecture) +7. [Analysis](#analysis) + 1. [Analysis design](#analysis-design) + 1. [Analysis architecture](#analysis-architecture) ## Introduction @@ -649,7 +651,7 @@ tracetools_analysis <-- ros2trace_analysis ## Analysis -### Design +### Analysis design Generally, for a given trace data analysis objective, the following classes are extended: `EventHandler`, `DataModel`, and `DataModelUtil`. @@ -657,7 +659,7 @@ A user/developer can implement an `EventHandler`, which defines callbacks for sp Meaningful data can be extracted from the `DataModel`. However, a `DataModelUtil` can provide common utility functions so that users don't have to re-write them. This meaningful output data can then be presented through a Jupyter notebook (e.g. plots) or a normal Python script (e.g. tables). -### Architecture +### Analysis architecture With profiling as an example implementation: