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vpServoData.cpp
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/****************************************************************************
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*
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* $Id: vpServoData.cpp 4056 2013-01-05 13:04:42Z fspindle $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Save data during the task execution.
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*
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* Authors:
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* Eric Marchand
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*
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*****************************************************************************/
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// Servo
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#include <visp/vpServo.h>
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#include <visp/vpServoData.h>
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#include <visp/vpIoException.h>
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#include <visp/vpIoTools.h>
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void
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vpServoData::open
(
const
char
*directory)
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{
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try
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{
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if
(
vpIoTools::checkDirectory
(directory) ==
false
)
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vpIoTools::makeDirectory
(directory);
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char
s[FILENAME_MAX] ;
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sprintf(s,
"%s/vel.dat"
,directory) ;
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velocityFile.open(s) ;
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sprintf(s,
"%s/error.dat"
,directory) ;
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errorFile.open(s) ;
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sprintf(s,
"%s/errornorm.dat"
,directory) ;
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errorNormFile.open(s) ;
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sprintf(s,
"%s/s.dat"
,directory) ;
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sFile.open(s) ;
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sprintf(s,
"%s/sStar.dat"
,directory) ;
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sStarFile.open(s) ;
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}
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catch
(...)
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{
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vpERROR_TRACE
(
"Error caught"
) ;
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throw ;
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}
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}
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void
vpServoData::setCmDeg
()
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{
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cmDeg = true ;
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}
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void
vpServoData::setMeterRad
()
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{
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cmDeg = false ;
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}
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void
vpServoData::save
(
const
vpServo
&task)
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{
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if
(cmDeg==
false
) velocityFile << task.
q_dot
.
t
() ;
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else
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{
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for
(
unsigned
int
i=0 ; i < 3 ; i++)
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velocityFile << task.
q_dot
[i]*100 <<
" "
;
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for (
unsigned
int
i=4 ; i < 6 ; i++)
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velocityFile <<
vpMath::deg
(task.
q_dot
[i]) <<
" "
;
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velocityFile << std::endl ;
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}
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errorFile << ( task.
getError
() ).t() ;
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errorNormFile << ( task.
getError
() ).sumSquare() << std::endl ;
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vNormFile << task.
q_dot
.
sumSquare
() << std::endl ;
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sFile <<task.
s
.
t
() ;
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sStarFile << task.
sStar
.
t
();
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}
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void
vpServoData::close
()
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{
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velocityFile.close() ;
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errorFile.close() ;
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errorNormFile.close() ;
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sFile.close() ;
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sStarFile.close() ;
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}
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/*
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* Local variables:
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* c-basic-offset: 2
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* End:
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*/
src
servo
vpServoData.cpp
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