writing into a text file using a nested for loop

[Ehsan arman]

Hi guys,

My program involves trajectory planning using cubic spline method for a robotic arm. In the process, I had to calculate joint angles for each point in the path. In the last few lines of the code I need to write the values for counter and theta1 into a text file which I called "Test.txt". I am doing this using a nested for loop(the counter runs until it reaches 19 and hence need 19 theta1 values corresponding to it). However, I can't get all the theta1 values transferred to the text file.The statement within my inner loop is wrong and don't know how to fix it. I'd appreciate any help.

for(i=0;i<num_via;i++){
			current_time = GetTickCount();

			//joint[0] = mult_joint[i][0];
			//joint[1] = mult_joint[i][1];
			//joint[2] = mult_joint[i][2];
			//joint[3] = mult_joint[i][3];	

			//vel[0] = a1[i][0];
			//vel[1] = a1[i][1];
			//vel[2] = a1[i][2];
			//vel[3] = a1[i][3];

			//accel[0] = a2[i][0];
			//accel[1] = a2[i][1];
			//accel[2] = a2[i][2];
			//accel[3] = a2[i][3];
		
			t = ((current_time-start_time)/1000);
			tf = compl_time/num_via;
			counter = 0;

			while( t < ((i+1)*tf)){
				//MoveWithConfVelAcc(joint,vel,accel);
				current_time = GetTickCount();
				counter ++;
				theta1 = a0[i][0] + a1[i][0]*(t-i*tf) + a2[i][0]*pow((t-i*tf),2) + a3[i][0]*pow((t-i*tf),3);
				theta2 = a0[i][1] + a1[i][1]*(t-i*tf) + a2[i][1]*pow((t-i*tf),2) + a3[i][1]*pow((t-i*tf),3);
				d_3 = a0[i][2] + a1[i][2]*(t-i*tf) + a2[i][2]*pow((t-i*tf),2) + a3[i][2]*pow((t-i*tf),3);
				theta4 = a0[i][3] + a1[i][3]*(t-i*tf) + a2[i][3]*pow((t-i*tf),2) + a3[i][3]*pow((t-i*tf),3);
				t = ((current_time-start_time)/1000);

				if(counter%1000000 == 0){
					cout<< theta1 <<" "<<t<<endl;
				}


			}
//======================================
		ofstream myfile;
	myfile.open("Test.txt");

	for(int num1=0; num1<20; num1++){
		for(int num2=0; num2<20; num2++){
			theta1; //problem occurs here
		}

		counter=num1;
		myfile<<counter<<"        "<<theta1<<endl;
	}
	myfile.close();

		}
	cin>> d;

	
}

[weaknessforcats]

	for(int num1=0; num1<20; num1++){
		[I]for(int num2=0; num2<20; num2++){
			theta1; //problem occurs here
                //this loop does nothing
		}
[/I]
		counter=num1;
		myfile<<counter<<"        "<<theta1<<endl;
	}

It doesn't loook like your inner loop does anythng. What istheta1? A function pointer?

[Ehsan arman]

Thanks for the reply.

theta1 is just a variable corresponding to an angle initialized as(double theta1=0.0). It has an equation assigned to it within the While loop at the bottom of the code. The while loop itself is within another for loop.

[Ehsan arman]

I have actually solved the problem. Turns out I don't even need a nested for loop. It was much simpler than I thought.