ServoData¶

class ServoData(self)¶

Bases: pybind11_object

Save data during the task execution when using vpServo .

Default constructor.

Methods

__init__	Default constructor.
close	Close all data files open with open() function.
open	Set the directory in which data are saved.
save	Save visual-servoing control law data.
setCmDeg	Velocity output are set in cm and deg.
setMeterRad	Velocity output are set in meter and deg (default).

Inherited Methods

Operators

__doc__
__init__	Default constructor.
__module__

Attributes

__annotations__

__init__(self)¶

Default constructor.

close(self) → None¶

Close all data files open with open() function.

Note

See open()

open(self, directory: str) → None¶

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 \({\bf s}^*\)

Note

See close()

Parameters:

directory: str¶

Path to the folder that contains data files to save.

save(self, task: visp._visp.vs.Servo) → None¶

Save visual-servoing control law data.

setCmDeg(self) → None¶

Velocity output are set in cm and deg.

setMeterRad(self) → None¶

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