Visual Servoing Platform  version 3.0.0
vpServoData.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Save data during the task execution.
32  *
33  * Authors:
34  * Eric Marchand
35  *
36  *****************************************************************************/
37 
38 #ifndef vpServoData_H
39 #define vpServoData_H
40 
48 // Servo
49 #include <visp3/vs/vpServo.h>
50 
51 #include <iostream>
52 
58 class VISP_EXPORT vpServoData
59 {
60 
61 private:
62  char baseDirectory[FILENAME_MAX] ;
63 
64  std::ofstream velocityFile ;
65  std::ofstream errorFile ;
66  std::ofstream errorNormFile ;
67  std::ofstream sFile ;
68  std::ofstream sStarFile ;
69  std::ofstream vNormFile ;
70 
73  bool cmDeg ;
74 
75 
76 
77 public:
78 
79 #ifndef DOXYGEN_SHOULD_SKIP_THIS
80  vpServoData(const vpServoData &sd)
81  : velocityFile(), errorFile(), errorNormFile(), sFile(),
82  sStarFile(), vNormFile(), cmDeg(false) {
83  *this = sd;
84  }
85  vpServoData & operator=(const vpServoData &) {
86  throw vpException(vpException::functionNotImplementedError,"Not implemented!");
87  }
88 #endif
89 
90  vpServoData() : velocityFile(), errorFile(), errorNormFile(), sFile(), sStarFile(), vNormFile(), cmDeg(false) { ; }
91  virtual ~vpServoData() { ; }
92 
94  void setCmDeg() ;
96  void setMeterRad() ;
97 
98  void save(const vpServo &task) ;
99  void open(const char *baseDirectory) ;
100  void close() ;
101 
102  void empty() ;
103  void push() ;
104  void display(vpImage<unsigned char> &I) ;
105 
106 } ;
107 
108 
109 
110 #endif
111 
112 /*
113  * Local variables:
114  * c-basic-offset: 2
115  * End:
116  */
virtual ~vpServoData()
Definition: vpServoData.h:91
error that can be emited by ViSP classes.
Definition: vpException.h:73
Save data during the task execution.
Definition: vpServoData.h:58