Robotsystem of the Robot Group Leipzig: trackrobots.h Source File

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# trackrobots.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  *   $Log: trackrobots.h,v $
    00023  *   Revision 1.9  2008/09/12 10:22:28  martius
    00024  *   set cnt to 1 to have round times in log file when using interval >1
    00025  *
    00026  *   Revision 1.8  2008/04/18 09:49:41  guettler
    00027  *   Added the OdeAgent as a friend class
    00028  *
    00029  *   Revision 1.7  2007/08/29 11:33:20  martius
    00030  *   simulation time enters logfile
    00031  *
    00032  *   Revision 1.6  2007/06/21 16:18:57  martius
    00033  *   do not free scene -> Segfault
    00034  *
    00035  *   Revision 1.5  2007/04/05 15:14:15  martius
    00036  *   angular speed tracking
    00037  *
    00038  *   Revision 1.4  2006/08/04 15:16:13  martius
    00039  *   documentation
    00040  *
    00041  *   Revision 1.3  2006/08/02 09:33:21  martius
    00042  *   Todo updated
    00043  *
    00044  *   Revision 1.2  2006/07/14 12:24:02  martius
    00045  *   selforg becomes HEAD
    00046  *
    00047  *   Revision 1.1.2.3  2006/03/31 16:18:32  fhesse
    00048  *   tracing in oderagent via trackrobots
    00049  *
    00050  *   Revision 1.1.2.2  2006/03/30 12:33:15  fhesse
    00051  *   trace via trackrobot
    00052  *
    00053  *   Revision 1.1.2.1  2005/11/16 11:24:27  martius
    00054  *   moved to selforg
    00055  *
    00056  *   Revision 1.4  2005/11/10 09:08:26  martius
    00057  *   trace has a name
    00058  *
    00059  *   Revision 1.3  2005/11/09 13:31:51  martius
    00060  *   GPL'ised
    00061  *
    00062  ***************************************************************************/
    00063 #ifndef __TRACKROBOTS_H
    00064 #define __TRACKROBOTS_H
    00065
    00066 #include <stdio.h>
    00067 #include <string.h>
    00068
    00069 class AbstractRobot;
    00070 class Agent;
    00071
    00072 namespace lpzrobots {
    00073   class OdeAgent;
    00074 }
    00075
    00076 /**
    00077    This class provides tracking possibilies of a robot.
    00078    The position, speed, and orientation can be logged.
    00079 */
    00080 class TrackRobot {
    00081 public:
    00082
    00083   friend class Agent;
    00084   friend class lpzrobots::OdeAgent;
    00085
    00086   /// constructor for no tracking at all
    00087   TrackRobot(){
    00088     trackPos = false;
    00089     trackSpeed = false;
    00090     trackOrientation = false;
    00091     displayTrace = false;
    00092     interval = 1;
    00093     file=0;
    00094     cnt=1;
    00095     scene=0;
    00096   }
    00097
    00098   /** Constructor that allows individial setting of tracking options.
    00099       The tracked data is written into a file with the current date and time appended by a name given by scene.
    00100       @param trackPos if true the trace (position vectors) of the robot are logged
    00101       @param trackSpeed if true the speed vectors (linear and angular) of the robot are logged
    00102       @param trackOrientation if true the orientation matrices  of the robot are logged
    00103       @param displayTrace if true the trace of the robot should be displayed (used in ODE simulations)
    00104       @param scene name of the scene (is appended to log file name)
    00105       @param interval timesteps between consequent logging events (default 1)
    00106    */
    00107   TrackRobot(bool trackPos, bool trackSpeed, bool trackOrientation, bool displayTrace,
    00108              const char* scene, int interval = 1){
    00109     this->trackPos     = trackPos;
    00110     this->trackSpeed   = trackSpeed;
    00111     this->trackOrientation = trackOrientation;
    00112     this->displayTrace     = displayTrace;
    00113     this->interval = interval;
    00114     this->scene = strdup(scene);
    00115     file=0;
    00116     cnt=0;
    00117   }
    00118
    00119   ~TrackRobot(){
    00120     // if(scene) free(scene);
    00121   }
    00122
    00123   /// returns whether tracing is activated
    00124   bool isDisplayTrace() const {return displayTrace;};
    00125
    00126  protected:
    00127   bool open(const AbstractRobot* robot);
    00128   void track(AbstractRobot* robot, double time);
    00129   void close();
    00130
    00131  protected:
    00132   bool trackPos;
    00133   bool trackSpeed;
    00134   bool trackOrientation;
    00135   bool displayTrace;
    00136
    00137   int interval;
    00138   FILE* file;
    00139   char* scene;
    00140   long cnt;
    00141 };
    00142
    00143
    00144
    00145 #endif