#include <vpServoData.h>

Public Member Functions
	vpServoData ()
virtual	~vpServoData ()
void	setCmDeg ()
void	setMeterRad ()
void	save (const vpServo &task)
void	open (const std::string &directory)
void	close ()

Detailed Description

Save data during the task execution when using vpServo.

Definition at line 54 of file vpServoData.h.

Constructor & Destructor Documentation

◆ vpServoData()

vpServoData::vpServoData ( )

inline

Default constructor.

Definition at line 84 of file vpServoData.h.

◆ ~vpServoData()

virtual vpServoData::~vpServoData ( )

inlinevirtual

Destructor that closes all data files if needed.

Definition at line 89 of file vpServoData.h.

References close().

Member Function Documentation

◆ close()

void vpServoData::close ( )

Close all data files open with open() function.

See also: open()

Definition at line 93 of file vpServoData.cpp.

Referenced by ~vpServoData().

◆ open()

BEGIN_VISP_NAMESPACE void vpServoData::open ( const std::string & directory )

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 ${\bf s}^*$

Parameters

directory : Path to the folder that contains data files to save.

See also: close()

Definition at line 46 of file vpServoData.cpp.

References vpIoTools::checkDirectory(), vpIoTools::makeDirectory(), and vpERROR_TRACE.

◆ save()

void vpServoData::save ( const vpServo & task )

Save visual-servoing control law data.

Definition at line 74 of file vpServoData.cpp.

References vpMath::deg().

◆ setCmDeg()

void vpServoData::setCmDeg ( )

Velocity output are set in cm and deg.

Definition at line 72 of file vpServoData.cpp.

◆ setMeterRad()

void vpServoData::setMeterRad ( )

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

Definition at line 73 of file vpServoData.cpp.

Public Member Functions