Visual Servoing Platform version 3.5.0
vpServoData.cpp
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
44// Servo
45#include <visp3/vs/vpServo.h>
46
47#include <visp3/core/vpIoException.h>
48#include <visp3/core/vpIoTools.h>
49#include <visp3/vs/vpServoData.h>
50
51void vpServoData::open(const char *directory)
52{
53 try {
54 if (vpIoTools::checkDirectory(directory) == false)
55 vpIoTools::makeDirectory(directory);
56
57 char s[FILENAME_MAX];
58
59 sprintf(s, "%s/vel.dat", directory);
60 velocityFile.open(s);
61 sprintf(s, "%s/error.dat", directory);
62 errorFile.open(s);
63 sprintf(s, "%s/errornorm.dat", directory);
64 errorNormFile.open(s);
65 sprintf(s, "%s/s.dat", directory);
66 sFile.open(s);
67 sprintf(s, "%s/sStar.dat", directory);
68 sStarFile.open(s);
69
70 } catch (...) {
71 vpERROR_TRACE("Error caught");
72 throw;
73 }
74}
75
76void vpServoData::setCmDeg() { cmDeg = true; }
77void vpServoData::setMeterRad() { cmDeg = false; }
78void vpServoData::save(const vpServo &task)
79{
80 if (cmDeg == false)
81 velocityFile << task.q_dot.t();
82 else {
83 for (unsigned int i = 0; i < 3; i++)
84 velocityFile << task.q_dot[i] * 100 << " ";
85 for (unsigned int i = 4; i < 6; i++)
86 velocityFile << vpMath::deg(task.q_dot[i]) << " ";
87 velocityFile << std::endl;
88 }
89 errorFile << (task.getError()).t();
90 errorNormFile << (task.getError()).sumSquare() << std::endl;
91 vNormFile << task.q_dot.sumSquare() << std::endl;
92
93 sFile << task.s.t();
94 sStarFile << task.sStar.t();
95}
96
98{
99 velocityFile.close();
100 errorFile.close();
101 errorNormFile.close();
102 sFile.close();
103 sStarFile.close();
104}
105
106/*
107 * Local variables:
108 * c-basic-offset: 2
109 * End:
110 */
double sumSquare() const
vpRowVector t() const
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:570
static double deg(double rad)
Definition: vpMath.h:103
void open(const char *baseDirectory)
Definition: vpServoData.cpp:51
void save(const vpServo &task)
Definition: vpServoData.cpp:78
void setMeterRad()
velocity output in meter and deg (default)
Definition: vpServoData.cpp:77
void setCmDeg()
velocity output in cm and deg
Definition: vpServoData.cpp:76
void close()
Definition: vpServoData.cpp:97
vpColVector q_dot
Articular velocity.
Definition: vpServo.h:570
vpColVector sStar
Definition: vpServo.h:562
vpColVector s
Definition: vpServo.h:558
vpColVector getError() const
Definition: vpServo.h:278
#define vpERROR_TRACE
Definition: vpDebug.h:393