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SIG_GPFullDataRecorder.h

00001 #ifndef SIGEL_GP_SIG_GPFULLDATARECORDER_H
00002 #define SIGEL_GP_SIG_GPFULLDATARECORDER_H
00003 
00004 #include "SIGEL_Simulation/SIG_Recorder.h"
00005 
00006 #include <qlist.h>
00007 
00008 namespace SIGEL_GP
00009 {
00010 
00011   class SIG_GPFullDataRecorder : public SIGEL_Simulation::SIG_Recorder
00012     {
00013 
00014       friend class SIG_GPRealSpeedFitnessFunction;
00015       friend class SIG_GPNiceWalkingFitnessFunction;
00016 
00017     public:
00018 
00019       SIG_GPFullDataRecorder( int recordingFrequency );
00020 
00021       void init()
00022         throw (SIGEL_Simulation::SIG_RecorderNoQueriesSetException,
00023                SIGEL_Simulation::SIG_RecorderBadRecordingOrderException);
00024 
00025       void record()
00026         throw (SIGEL_Simulation::SIG_RecorderNoQueriesSetException,
00027                SIGEL_Simulation::SIG_RecorderBadRecordingOrderException);
00028 
00029       void finish()
00030         throw (SIGEL_Simulation::SIG_RecorderNoQueriesSetException,
00031                SIGEL_Simulation::SIG_RecorderBadRecordingOrderException);
00032 
00033     private:
00034 
00035       QList< DL_vector > positions;
00036       QList< DL_matrix > rotations;
00037 
00038       DL_vector endPosition;
00039       DL_matrix endRotation;
00040 
00041       int recordingFrequency;
00042       int frameCounter;
00043     };
00044 
00045 }
00046 
00047 #endif // SIGEL_GP_SIG_GPFULLDATARECORDER_H

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