vpServoData.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Save data during the task execution.
 */

 
#ifndef _vpServoData_h_
#define _vpServoData_h_
 
#include <visp3/core/vpConfig.h>
// Servo
#include <visp3/vs/vpServo.h>
 
#include <iostream>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpServoData
{
private:
  std::ofstream velocityFile;
  std::ofstream errorFile;
  std::ofstream errorNormFile;
  std::ofstream sFile;
  std::ofstream sStarFile;
  std::ofstream vNormFile;

  bool cmDeg;
 
public:
#ifndef DOXYGEN_SHOULD_SKIP_THIS
  vpServoData(const vpServoData &sd)
    : velocityFile(), errorFile(), errorNormFile(), sFile(), sStarFile(), vNormFile(), cmDeg(false)
  {
    *this = sd;
  }
  vpServoData &operator=(const vpServoData &)
  {
    throw vpException(vpException::functionNotImplementedError, "Not implemented!");
  }
#endif

  vpServoData() : velocityFile(), errorFile(), errorNormFile(), sFile(), sStarFile(), vNormFile(), cmDeg(false) { }

  virtual ~vpServoData() { close(); }

  void setCmDeg();
  void setMeterRad();
  void save(const vpServo &task);

  void open(const std::string &directory);

  void close();
};
END_VISP_NAMESPACE
#endif