Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpServoData.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Save data during the task execution.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpServoData_H
40 #define vpServoData_H
41 
47 // Servo
48 #include <visp3/vs/vpServo.h>
49 
50 #include <iostream>
51 
57 class VISP_EXPORT vpServoData
58 {
59 
60 private:
61  char baseDirectory[FILENAME_MAX];
62 
63  std::ofstream velocityFile;
64  std::ofstream errorFile;
65  std::ofstream errorNormFile;
66  std::ofstream sFile;
67  std::ofstream sStarFile;
68  std::ofstream vNormFile;
69 
72  bool cmDeg;
73 
74 public:
75 #ifndef DOXYGEN_SHOULD_SKIP_THIS
76  vpServoData(const vpServoData &sd)
77  : velocityFile(), errorFile(), errorNormFile(), sFile(), sStarFile(), vNormFile(), cmDeg(false)
78  {
79  *this = sd;
80  }
81  vpServoData &operator=(const vpServoData &)
82  {
83  throw vpException(vpException::functionNotImplementedError, "Not implemented!");
84  }
85 #endif
86 
87  vpServoData() : velocityFile(), errorFile(), errorNormFile(), sFile(), sStarFile(), vNormFile(), cmDeg(false) { ; }
88  virtual ~vpServoData() { ; }
89 
91  void setCmDeg();
93  void setMeterRad();
94 
95  void save(const vpServo &task);
96  void open(const char *baseDirectory);
97  void close();
98 
99  void empty();
100  void push();
101  void display(vpImage<unsigned char> &I);
102 };
103 
104 #endif
105 
106 /*
107  * Local variables:
108  * c-basic-offset: 2
109  * End:
110  */
virtual ~vpServoData()
Definition: vpServoData.h:88
error that can be emited by ViSP classes.
Definition: vpException.h:71
Save data during the task execution.
Definition: vpServoData.h:57
Function not implemented.
Definition: vpException.h:90