Visual Servoing Platform  version 3.6.1 under development (2024-11-21)
vpServoData.cpp
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
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 https://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 
39 #include <visp3/core/vpDebug.h>
40 #include <visp3/core/vpIoException.h>
41 #include <visp3/core/vpIoTools.h>
42 #include <visp3/vs/vpServo.h>
43 #include <visp3/vs/vpServoData.h>
44 
45 BEGIN_VISP_NAMESPACE
46 void vpServoData::open(const std::string &directory)
47 {
48  try {
49  if (vpIoTools::checkDirectory(directory) == false)
50  vpIoTools::makeDirectory(directory);
51 
52  std::string s;
53  s = directory + "/vel.dat";
54  velocityFile.open(s.c_str());
55  s = directory + "/error.dat";
56  errorFile.open(s.c_str());
57 
58  s = directory + "/errornorm.dat";
59  errorNormFile.open(s.c_str());
60  s = directory + "/s.dat";
61  sFile.open(s.c_str());
62  s = directory + "/sStar.dat";
63  sStarFile.open(s.c_str());
64 
65  }
66  catch (...) {
67  vpERROR_TRACE("Error caught");
68  throw;
69  }
70 }
71 
72 void vpServoData::setCmDeg() { cmDeg = true; }
73 void vpServoData::setMeterRad() { cmDeg = false; }
74 void vpServoData::save(const vpServo &task)
75 {
76  if (cmDeg == false)
77  velocityFile << task.q_dot.t();
78  else {
79  for (unsigned int i = 0; i < 3; i++)
80  velocityFile << task.q_dot[i] * 100 << " ";
81  for (unsigned int i = 4; i < 6; i++)
82  velocityFile << vpMath::deg(task.q_dot[i]) << " ";
83  velocityFile << std::endl;
84  }
85  errorFile << (task.getError()).t();
86  errorNormFile << (task.getError()).sumSquare() << std::endl;
87  vNormFile << task.q_dot.sumSquare() << std::endl;
88 
89  sFile << task.s.t();
90  sStarFile << task.sStar.t();
91 }
92 
94 {
95  if (velocityFile.is_open()) {
96  velocityFile.close();
97  }
98  if (errorFile.is_open()) {
99  errorFile.close();
100  }
101  if (errorNormFile.is_open()) {
102  errorNormFile.close();
103  }
104  if (sFile.is_open()) {
105  sFile.close();
106  }
107  if (sStarFile.is_open()) {
108  sStarFile.close();
109  }
110 }
111 END_VISP_NAMESPACE
double sumSquare() const
vpRowVector t() const
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:396
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:550
static double deg(double rad)
Definition: vpMath.h:119
void open(const std::string &directory)
Definition: vpServoData.cpp:46
void save(const vpServo &task)
Save visual-servoing control law data.
Definition: vpServoData.cpp:74
void setMeterRad()
Velocity output are set in meter and deg (default).
Definition: vpServoData.cpp:73
void setCmDeg()
Velocity output are set in cm and deg.
Definition: vpServoData.cpp:72
void close()
Definition: vpServoData.cpp:93
vpColVector q_dot
Articular velocity.
Definition: vpServo.h:1190
vpColVector sStar
Definition: vpServo.h:1182
vpColVector s
Definition: vpServo.h:1178
vpColVector getError() const
Definition: vpServo.h:510