TrackRobot Class Reference

This class provides tracking possibilies of a robot. More...

#include <trackrobots.h>

Collaboration diagram for TrackRobot:

[legend]

List of all members.

Public Member Functions
	TrackRobot (TrackRobotConf conf=getDefaultConf())
	constructor for no tracking at all
	TrackRobot (bool trackPos, bool trackSpeed, bool trackOrientation, bool displayTrace, const char *scene="", int interval=1)
	Constructor that allows individial setting of tracking options.
	~TrackRobot ()
bool	isDisplayTrace () const
	returns whether tracing is activated
bool	isTrackingSomething () const
	returns whether something is to be tracked
Static Public Member Functions
static TrackRobotConf	getDefaultConf ()
Public Attributes
TrackRobotConf	conf
Protected Member Functions
bool	open (const Trackable *robot)
void	track (const Trackable *robot, double time)
void	close ()
Protected Attributes
FILE *	file
long	cnt
Friends
class	Agent
class	lpzrobots::OdeAgent
class	lpzrobots::TraceDrawer

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Detailed Description

This class provides tracking possibilies of a robot.

The position, speed, and orientation can be logged. This is used by the agent class,

See also:

Agent::setTrackOptions()

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Constructor & Destructor Documentation

TrackRobot

(

TrackRobotConf

conf = getDefaultConf()

)

[inline]

constructor for no tracking at all

TrackRobot	(	bool	trackPos,
		bool	trackSpeed,
		bool	trackOrientation,
		bool	displayTrace,
		const char *	scene = "",
		int	interval = 1
	)			[inline]

Constructor that allows individial setting of tracking options.

The tracked data is written into a file with the current date and time appended by a name given by scene.

Parameters:

	trackPos	if true the trace (position vectors) of the robot are logged
	trackSpeed	if true the speed vectors (linear and angular) of the robot are logged
	trackOrientation	if true the orientation matrices of the robot are logged
	displayTrace	if true the trace of the robot should be displayed (used in ODE simulations)
	scene	name of the scene (is appended to log file name)
	interval	timesteps between consequent logging events (default 1)

~TrackRobot

(

)

[inline]

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Member Function Documentation

void close

(

)

[protected]

static TrackRobotConf getDefaultConf

(

)

[inline, static]

bool isDisplayTrace

(

)

const [inline]

returns whether tracing is activated

bool isTrackingSomething

(

)

const [inline]

returns whether something is to be tracked

bool open

(

const Trackable *

robot

)

[protected]

void track	(	const Trackable *	robot,
		double	time
	)			[protected]

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Friends And Related Function Documentation

friend class Agent [friend]

friend class lpzrobots::OdeAgent [friend]

friend class lpzrobots::TraceDrawer [friend]

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Member Data Documentation

long cnt [protected]

TrackRobotConf conf

FILE* file [protected]

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The documentation for this class was generated from the following files:

• trackrobots.h
• trackrobots.cpp