BaseArnl: ArPoseStorage Class Reference

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# ArPoseStorage Class Reference

`#include <ArServerClasses.h>`

List of all members.

## Detailed Description

After an attempt is made to restore a pose (successful or not) this class will start to write the robot's pose into the file that is attempted to restore from.

Unless told otherwise in the constructor it'll also save to the file when Aria exits.

## Public Member Functions
| ArPoseStorage (ArRobot *robot, const char *baseDirectory="", int poseWriteIntervalInMSecs=1000, bool addAriaExitCB=true)
| Constructor.
| ~ArPoseStorage ()
| Destructor.
bool | savePose (void)
| Saves the pose of a robot to a file for restoring later.
bool | restorePose (const char *fileName)
| Restores the pose of a robot from a file saved earlier.
## Protected Member Functions
void | userTask (void)
| Internal user task call that will occasionally write the pose to disk.

## Constructor & Destructor Documentation

ArPoseStorage::ArPoseStorage | ( | ArRobot * | robot,
|  | const char * | baseDirectory = `""`,
|  | int | poseWriteIntervalInMSecs = `1000`,
|  | bool | addAriaExitCB = `true` |
| ) |  |  |

Constructor.

Parameters:

  | baseDirectory | the base directory to write into
  | addAriaExitCB | whether to add the aria exit callback or not
  | poseWriteIntervalInMSecs | if this is non-zero then the class will call savePose every poseWriteInternvalInMSecs milliseconds