tgDataLogger2.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef TG_DATA_LOGGER2_H
#define TG_DATA_LOGGER2_H

// Includes from NTRTsim
#include "tgDataManager.h"
// Includes from the C++ standard library
#include <fstream> // for writing to a file

class tgDataLogger2 : public tgDataManager
{
 public:

  tgDataLogger2(std::string fileNamePrefix, double timeInterval = 0.0);

  tgDataLogger2();

  ~tgDataLogger2();

  virtual void setup();

  virtual void teardown();

  virtual void step(double dt);

  virtual std::string toString() const;

  // TO-DO: write a new invariant for this subclass, instead of using the parent's.

 protected:

  std::string m_fileName;

  std::string m_fileNamePrefix;

  std::ofstream tgOutput;

  double m_totalTime;

  double m_timeInterval;

  double m_updateTime;
  
};


#endif // TG_DATA_LOGGER2_H