Visual Servoing Platform  version 3.6.1 under development (2024-04-19)
Public Member Functions | List of all members
vpServoData Class Reference
vs: Visual servoing module » Task and control laws

#include <visp3/vs/vpServoData.h>

Public Member Functions

 vpServoData ()
 
virtual ~vpServoData ()
 
void setCmDeg ()
 
void setMeterRad ()
 
void save (const vpServo &task)
 
void open (const std::string &directory)
 
void close ()
 

Detailed Description

Save data during the task execution when using vpServo.

Definition at line 52 of file vpServoData.h.

Constructor & Destructor Documentation

◆ vpServoData()

vpServoData::vpServoData ( )
inline

Default constructor.

Definition at line 82 of file vpServoData.h.

◆ ~vpServoData()

virtual vpServoData::~vpServoData ( )
inlinevirtual

Destructor that closes all data files if needed.

Definition at line 87 of file vpServoData.h.

Member Function Documentation

◆ close()

void vpServoData::close ( )

Close all data files open with open() function.

See also
open()

Definition at line 93 of file vpServoData.cpp.

◆ open()

void vpServoData::open ( const std::string &  directory)

Set the directory in which data are saved. In this directory, creates the following files:

  • vel.dat that contains velocities computed
  • error.dat that contains visual-servo error $ {\bf e} = ({\bf s} - {\bf s}^*)$
  • errornorm.dat that contains the sum square of the visual-servo error $ {\bf e} $
  • s.dat that contains the current feature vector $ \bf s $
  • sStar.dat that contains the desired feature vector $ {\bf s}^* $
Parameters
directory: Path to the folder that contains data files to save.
See also
close()

Definition at line 46 of file vpServoData.cpp.

References vpIoTools::checkDirectory(), vpIoTools::makeDirectory(), and vpERROR_TRACE.

◆ save()

void vpServoData::save ( const vpServo &  task)

Save visual-servoing control law data.

Definition at line 74 of file vpServoData.cpp.

References vpMath::deg(), vpServo::getError(), vpServo::q_dot, vpServo::s, vpServo::sStar, vpColVector::sumSquare(), and vpColVector::t().

◆ setCmDeg()

void vpServoData::setCmDeg ( )

Velocity output are set in cm and deg.

Definition at line 72 of file vpServoData.cpp.

◆ setMeterRad()

void vpServoData::setMeterRad ( )

Velocity output are set in meter and deg (default).

Definition at line 73 of file vpServoData.cpp.