vpServoData.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://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.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpServoData_H
#define vpServoData_H

// Servo
#include <visp3/vs/vpServo.h>

#include <iostream>

class VISP_EXPORT vpServoData
{

private:
  char baseDirectory[FILENAME_MAX] ;

  std::ofstream velocityFile ;
  std::ofstream errorFile ;
  std::ofstream errorNormFile ;
  std::ofstream sFile ;
  std::ofstream sStarFile ;
  std::ofstream vNormFile ;

  bool cmDeg ;



public:

#ifndef DOXYGEN_SHOULD_SKIP_THIS
  vpServoData(const vpServoData &sd)
    : velocityFile(), errorFile(), errorNormFile(), sFile(),
      sStarFile(), vNormFile(), cmDeg(false) {
    *this = sd;
  }      
  vpServoData & operator=(const vpServoData &) {
    throw vpException(vpException::functionNotImplementedError,"Not implemented!");
  }
#endif

  vpServoData() : velocityFile(), errorFile(), errorNormFile(), sFile(), sStarFile(), vNormFile(), cmDeg(false) { ; }
  virtual ~vpServoData() { ; }

  void setCmDeg() ;
  void setMeterRad() ;

  void save(const vpServo &task) ;
  void open(const char *baseDirectory) ;
  void close() ;

  void empty() ;
  void push() ;
  void display(vpImage<unsigned char> &I) ;

} ;



#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */