Robot Simulator of the Robotics Group for Self-Organization of Control: 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 1.10  2009/08/04 14:55:22  jhoffmann
    00024  *   Remove two memory leaks, but fix needs review for the open file pointers
    00025  *
    00026  *   Revision 1.9  2008/09/12 10:22:28  martius
    00027  *   set cnt to 1 to have round times in log file when using interval >1
    00028  *
    00029  *   Revision 1.8  2008/04/18 09:49:41  guettler
    00030  *   Added the OdeAgent as a friend class
    00031  *
    00032  *   Revision 1.7  2007/08/29 11:33:20  martius
    00033  *   simulation time enters logfile
    00034  *
    00035  *   Revision 1.6  2007/06/21 16:18:57  martius
    00036  *   do not free scene -> Segfault
    00037  *
    00038  *   Revision 1.5  2007/04/05 15:14:15  martius
    00039  *   angular speed tracking
    00040  *
    00041  *   Revision 1.4  2006/08/04 15:16:13  martius
    00042  *   documentation
    00043  *
    00044  *   Revision 1.3  2006/08/02 09:33:21  martius
    00045  *   Todo updated
    00046  *
    00047  *   Revision 1.2  2006/07/14 12:24:02  martius
    00048  *   selforg becomes HEAD
    00049  *
    00050  *   Revision 1.1.2.3  2006/03/31 16:18:32  fhesse
    00051  *   tracing in oderagent via trackrobots
    00052  *
    00053  *   Revision 1.1.2.2  2006/03/30 12:33:15  fhesse
    00054  *   trace via trackrobot
    00055  *
    00056  *   Revision 1.1.2.1  2005/11/16 11:24:27  martius
    00057  *   moved to selforg
    00058  *
    00059  *   Revision 1.4  2005/11/10 09:08:26  martius
    00060  *   trace has a name
    00061  *
    00062  *   Revision 1.3  2005/11/09 13:31:51  martius
    00063  *   GPL'ised
    00064  *
    00065  ***************************************************************************/
    00066 #ifndef __TRACKROBOTS_H
    00067 #define __TRACKROBOTS_H
    00068
    00069 #include <stdio.h>
    00070 #include <string.h>
    00071
    00072 class AbstractRobot;
    00073 class Agent;
    00074
    00075 namespace lpzrobots {
    00076   class OdeAgent;
    00077 }
    00078
    00079 /**
    00080    This class provides tracking possibilies of a robot.
    00081    The position, speed, and orientation can be logged.
    00082 */
    00083 class TrackRobot {
    00084 public:
    00085
    00086   friend class Agent;
    00087   friend class lpzrobots::OdeAgent;
    00088
    00089   /// constructor for no tracking at all
    00090   TrackRobot()
    00091   {
    00092     trackPos          = false;
    00093     trackSpeed        = false;
    00094     trackOrientation  = false;
    00095     displayTrace      = false;
    00096     interval          = 1;
    00097     scene             = 0;
    00098     file              = 0;
    00099     cnt               = 1;
    00100     memset(filename, 0, 256);
    00101
    00102   }
    00103
    00104   /** Constructor that allows individial setting of tracking options.
    00105       The tracked data is written into a file with the current date and time appended by a name given by scene.
    00106       @param trackPos if true the trace (position vectors) of the robot are logged
    00107       @param trackSpeed if true the speed vectors (linear and angular) of the robot are logged
    00108       @param trackOrientation if true the orientation matrices  of the robot are logged
    00109       @param displayTrace if true the trace of the robot should be displayed (used in ODE simulations)
    00110       @param scene name of the scene (is appended to log file name)
    00111       @param interval timesteps between consequent logging events (default 1)
    00112    */
    00113   TrackRobot(bool trackPos, bool trackSpeed, bool trackOrientation, bool displayTrace,
    00114              const char* scene = "", int interval = 1)
    00115   {
    00116     this->trackPos         = trackPos;
    00117     this->trackSpeed       = trackSpeed;
    00118     this->trackOrientation = trackOrientation;
    00119     this->displayTrace     = displayTrace;
    00120     this->interval         = interval;
    00121     this->scene            = strdup(scene);
    00122     file = 0;
    00123     cnt  = 1;
    00124     memset(filename, 0, 256);
    00125   }
    00126
    00127
    00128   TrackRobot(const TrackRobot &rhs)
    00129   {
    00130     deepcopy(*this, rhs);
    00131   }
    00132
    00133   const TrackRobot& operator=(const TrackRobot &rhs)
    00134   {
    00135     if ( this != &rhs )
    00136     {
    00137       if (scene)
    00138         free(scene);
    00139       scene = 0;
    00140
    00141       if (file)
    00142         fclose(file);
    00143       file=0;
    00144
    00145       deepcopy(*this, rhs);
    00146     }
    00147
    00148     return *this;
    00149   }
    00150
    00151   ~TrackRobot()
    00152   {
    00153     if (file)
    00154       fclose(file);
    00155     file = 0;
    00156
    00157     //Something goes wrong here, but what? -> also with copy constructor no improvement, see above
    00158     if (scene)
    00159       free(scene);
    00160     scene = 0;
    00161   }
    00162
    00163   /// returns whether tracing is activated
    00164   bool isDisplayTrace() const {return displayTrace;};
    00165
    00166  protected:
    00167   bool open(const AbstractRobot* robot);
    00168   void track(AbstractRobot* robot, double time);
    00169   void close();
    00170
    00171  protected:
    00172   bool trackPos;
    00173   bool trackSpeed;
    00174   bool trackOrientation;
    00175   bool displayTrace;
    00176
    00177   int interval;
    00178   FILE* file;
    00179   char* scene;
    00180   long cnt;
    00181
    00182  private:
    00183    char filename[256];
    00184    static void deepcopy (TrackRobot &lhs, const TrackRobot &rhs);
    00185
    00186 };
    00187
    00188 #endif