Visual Servoing Platform
version 3.6.1 under development (2024-11-21)
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#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 () |
Save data during the task execution when using vpServo.
Definition at line 54 of file vpServoData.h.
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inline |
Default constructor.
Definition at line 84 of file vpServoData.h.
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inlinevirtual |
Destructor that closes all data files if needed.
Definition at line 89 of file vpServoData.h.
void vpServoData::close | ( | ) |
Close all data files open with open() function.
Definition at line 93 of file vpServoData.cpp.
BEGIN_VISP_NAMESPACE 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 computederror.dat
that contains visual-servo error errornorm.dat
that contains the sum square of the visual-servo error s.dat
that contains the current feature vector sStar.dat
that contains the desired feature vector directory | : Path to the folder that contains data files to save. |
Definition at line 46 of file vpServoData.cpp.
References vpIoTools::checkDirectory(), and vpIoTools::makeDirectory().
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().
void vpServoData::setCmDeg | ( | ) |
Velocity output are set in cm and deg.
Definition at line 72 of file vpServoData.cpp.
void vpServoData::setMeterRad | ( | ) |
Velocity output are set in meter and deg (default).
Definition at line 73 of file vpServoData.cpp.