42#include <visp3/vs/vpServo.h>
44#include <visp3/core/vpIoException.h>
45#include <visp3/core/vpIoTools.h>
46#include <visp3/vs/vpServoData.h>
55 s = directory +
"/vel.dat";
56 velocityFile.open(s.c_str());
57 s = directory +
"/error.dat";
58 errorFile.open(s.c_str());
60 s = directory +
"/errornorm.dat";
61 errorNormFile.open(s.c_str());
62 s = directory +
"/s.dat";
63 sFile.open(s.c_str());
64 s = directory +
"/sStar.dat";
65 sStarFile.open(s.c_str());
79 velocityFile << task.
q_dot.
t();
81 for (
unsigned int i = 0; i < 3; i++)
82 velocityFile << task.
q_dot[i] * 100 <<
" ";
83 for (
unsigned int i = 4; i < 6; i++)
85 velocityFile << std::endl;
88 errorNormFile << (task.
getError()).sumSquare() << std::endl;
92 sStarFile << task.
sStar.
t();
99 errorNormFile.close();
static double deg(double rad)
void open(const std::string &directory)
void save(const vpServo &task)
void setMeterRad()
velocity output in meter and deg (default)
void setCmDeg()
velocity output in cm and deg
vpColVector q_dot
Articular velocity.
vpColVector getError() const