Robotsystem from Robot Group Leipzig: trackrobots.h Source File

- Main Page
- Modules
- Namespaces
- Classes
- Files
- Directories
- Examples

- File List
- File Members

# trackrobots.h

Go to the documentation of this file.

    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 1.1.2.3  2006/03/31 16:18:32  fhesse
    00024  *   tracing in oderagent via trackrobots
    00025  *
    00026  *   Revision 1.1.2.2  2006/03/30 12:33:15  fhesse
    00027  *   trace via trackrobot
    00028  *
    00029  *   Revision 1.1.2.1  2005/11/16 11:24:27  martius
    00030  *   moved to selforg
    00031  *
    00032  *   Revision 1.4  2005/11/10 09:08:26  martius
    00033  *   trace has a name
    00034  *
    00035  *   Revision 1.3  2005/11/09 13:31:51  martius
    00036  *   GPL'ised
    00037  *
    00038  ***************************************************************************/
    00039 #ifndef __TRACKROBOTS_H
    00040 #define __TRACKROBOTS_H
    00041
    00042 #include <stdio.h>
    00043 #include <string.h>
    00044
    00045 class AbstractRobot;
    00046 class Agent;
    00047
    00048 class TrackRobot {
    00049 public:
    00050
    00051   friend class Agent;
    00052   //friend class OdeAgent;
    00053
    00054   TrackRobot(){
    00055     trackPos = false;
    00056     trackSpeed = false;
    00057     trackOrientation = false;
    00058     tracePos = false;
    00059     interval = 1;
    00060     file=0;
    00061     cnt=0;
    00062     scene=0;
    00063   }
    00064   /** Set the tracking mode of the simulation environment.
    00065       If one of the trackparameters is true the tracking is enabled.
    00066       The tracking is written into a file with the current date and time as name.
    00067       If tracePos is ture (at least in ode simulations) the trace of the robot is shown
    00068    */
    00069   TrackRobot(bool trackPos, bool trackSpeed, bool trackOrientation, bool tracePos,
    00070              const char* scene, int interval = 1){
    00071     this->trackPos     = trackPos;
    00072     this->trackSpeed   = trackSpeed;
    00073     this->trackOrientation = trackOrientation;
    00074     this->tracePos     = tracePos;
    00075     this->interval = interval;
    00076     this->scene = strdup(scene);
    00077     file=0;
    00078     cnt=0;
    00079   }
    00080
    00081   ~TrackRobot(){
    00082     if(scene) free(scene);
    00083   }
    00084
    00085   bool open(const AbstractRobot* robot);
    00086   void track(AbstractRobot* robot);
    00087   void close();
    00088
    00089   //todo: do this with friend class OdeAgent or the like
    00090   bool trace() const {return tracePos;};
    00091
    00092  private:
    00093   bool trackPos;
    00094   bool trackSpeed;
    00095   bool trackOrientation;
    00096   bool tracePos;
    00097
    00098   int interval;
    00099   FILE* file;
    00100   char* scene;
    00101   long cnt;
    00102 };
    00103
    00104
    00105
    00106 #endif