Visual Servoing Platform version 3.5.0
vpRobotTemplate.h
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30 *
31 * Description:
32 * Defines a robot just to show which function you must implement.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
40#ifndef vpRobotTemplate_h
41#define vpRobotTemplate_h
42
48#include <visp3/core/vpConfig.h>
49
50
51#include <visp3/core/vpHomogeneousMatrix.h>
52#include <visp3/robot/vpRobot.h>
53
61class VISP_EXPORT vpRobotTemplate : public vpRobot
62{
63public:
65 virtual ~vpRobotTemplate();
66
67 void get_eJe(vpMatrix &eJe_);
68 void get_fJe(vpMatrix &fJe_);
69
74 vpHomogeneousMatrix get_eMc() const { return m_eMc; }
75
78
83 void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
84 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
85 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
86
87protected:
88 void init();
89 void getJointPosition(vpColVector &q);
90 void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
91 void setJointVelocity(const vpColVector &qdot);
92
93protected:
95};
96
97#endif
98
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Class that defines a robot just to show which function you must implement.
void set_eMc(vpHomogeneousMatrix &eMc)
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
vpHomogeneousMatrix get_eMc() const
Class that defines a generic virtual robot.
Definition: vpRobot.h:59
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpControlFrameType
Definition: vpRobot.h:75
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.