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

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# 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 1.4  2006/08/04 15:16:13  martius
    00024  *   documentation
    00025  *
    00026  *   Revision 1.3  2006/08/02 09:33:21  martius
    00027  *   Todo updated
    00028  *
    00029  *   Revision 1.2  2006/07/14 12:24:02  martius
    00030  *   selforg becomes HEAD
    00031  *
    00032  *   Revision 1.1.2.3  2006/03/31 16:18:32  fhesse
    00033  *   tracing in oderagent via trackrobots
    00034  *
    00035  *   Revision 1.1.2.2  2006/03/30 12:33:15  fhesse
    00036  *   trace via trackrobot
    00037  *
    00038  *   Revision 1.1.2.1  2005/11/16 11:24:27  martius
    00039  *   moved to selforg
    00040  *
    00041  *   Revision 1.4  2005/11/10 09:08:26  martius
    00042  *   trace has a name
    00043  *
    00044  *   Revision 1.3  2005/11/09 13:31:51  martius
    00045  *   GPL'ised
    00046  *
    00047  ***************************************************************************/
    00048 #ifndef __TRACKROBOTS_H
    00049 #define __TRACKROBOTS_H
    00050
    00051 #include <stdio.h>
    00052 #include <string.h>
    00053
    00054 class AbstractRobot;
    00055 class Agent;
    00056
    00057 /**
    00058    This class provides tracking possibilies of a robot.
    00059    The position, speed, and orientation can be logged.
    00060 */
    00061 class TrackRobot {
    00062 public:
    00063
    00064   friend class Agent;
    00065   //friend class OdeAgent;
    00066
    00067   /// constructor for no tracking at all
    00068   TrackRobot(){
    00069     trackPos = false;
    00070     trackSpeed = false;
    00071     trackOrientation = false;
    00072     displayTrace = false;
    00073     interval = 1;
    00074     file=0;
    00075     cnt=0;
    00076     scene=0;
    00077   }
    00078
    00079   /** Constructor that allows individial setting of tracking options.
    00080       The tracked data is written into a file with the current date and time appended by a name given by scene.
    00081       @param trackPos if true the trace (position vectors) of the robot are logged
    00082       @param trackSpeed if true the speed vectors of the robot are logged
    00083       @param trackOrientation if true the orientation matrices  of the robot are logged
    00084       @param displayTrace if true the trace of the robot should be displayed (used in ODE simulations)
    00085       @param scene name of the scene (is appended to log file name)
    00086       @param interval timesteps between consequent logging events (default 1)
    00087    */
    00088   TrackRobot(bool trackPos, bool trackSpeed, bool trackOrientation, bool displayTrace,
    00089              const char* scene, int interval = 1){
    00090     this->trackPos     = trackPos;
    00091     this->trackSpeed   = trackSpeed;
    00092     this->trackOrientation = trackOrientation;
    00093     this->displayTrace     = displayTrace;
    00094     this->interval = interval;
    00095     this->scene = strdup(scene);
    00096     file=0;
    00097     cnt=0;
    00098   }
    00099
    00100   ~TrackRobot(){
    00101     if(scene) free(scene);
    00102   }
    00103
    00104   /// returns whether tracing is activated
    00105   bool isDisplayTrace() const {return displayTrace;};
    00106
    00107  protected:
    00108   bool open(const AbstractRobot* robot);
    00109   void track(AbstractRobot* robot);
    00110   void close();
    00111
    00112  protected:
    00113   bool trackPos;
    00114   bool trackSpeed;
    00115   bool trackOrientation;
    00116   bool displayTrace;
    00117
    00118   int interval;
    00119   FILE* file;
    00120   char* scene;
    00121   long cnt;
    00122 };
    00123
    00124
    00125
    00126 #endif