vpServoData.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Save data during the task execution.
 */
 
// Servo
#include <visp3/vs/vpServo.h>
 
#include <visp3/core/vpIoException.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/vs/vpServoData.h>
 
void vpServoData::open(const std::string &directory)
{
  try {
    if (vpIoTools::checkDirectory(directory) == false)
      vpIoTools::makeDirectory(directory);
 
    std::string s;
    s = directory + "/vel.dat";
    velocityFile.open(s.c_str());
    s = directory + "/error.dat";
    errorFile.open(s.c_str());
 
    s = directory + "/errornorm.dat";
    errorNormFile.open(s.c_str());
    s = directory + "/s.dat";
    sFile.open(s.c_str());
    s = directory + "/sStar.dat";
    sStarFile.open(s.c_str());
 
  }
  catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}
 
void vpServoData::setCmDeg() { cmDeg = true; }
void vpServoData::setMeterRad() { cmDeg = false; }
void vpServoData::save(const vpServo &task)
{
  if (cmDeg == false)
    velocityFile << task.q_dot.t();
  else {
    for (unsigned int i = 0; i < 3; i++)
      velocityFile << task.q_dot[i] * 100 << " ";
    for (unsigned int i = 4; i < 6; i++)
      velocityFile << vpMath::deg(task.q_dot[i]) << " ";
    velocityFile << std::endl;
  }
  errorFile << (task.getError()).t();
  errorNormFile << (task.getError()).sumSquare() << std::endl;
  vNormFile << task.q_dot.sumSquare() << std::endl;
 
  sFile << task.s.t();
  sStarFile << task.sStar.t();
}
 
void vpServoData::close()
{
  if (velocityFile.is_open()) {
    velocityFile.close();
  }
  if (errorFile.is_open()) {
    errorFile.close();
  }
  if (errorNormFile.is_open()) {
    errorNormFile.close();
  }
  if (sFile.is_open()) {
    sFile.close();
  }
  if (sStarFile.is_open()) {
    sStarFile.close();
  }
}