42#include <visp3/core/vpConfig.h>
49#include <visp3/core/vpColVector.h>
50#include <visp3/core/vpDebug.h>
51#include <visp3/core/vpPoseVector.h>
52#include <visp3/robot/vpAfma6.h>
53#include <visp3/robot/vpRobot.h>
57#include "irisa_Afma6.h"
230 static bool robotAlreadyCreated;
232 double positioningVelocity;
237 double time_prev_getvel;
238 bool first_time_getvel;
243 bool first_time_getdis;
269 double getPositioningVelocity(
void);
270 bool getPowerState();
271 double getTime()
const;
291 void move(
const std::string &filename);
292 void move(
const std::string &filename,
double velocity);
299 static bool readPosFile(
const std::string &filename,
vpColVector &q);
300 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
306 double pos4,
double pos5,
double pos6);
308 void setPositioningVelocity(
double velocity);
Modelisation of Irisa's gantry robot named Afma6.
virtual void set_eMc(const vpHomogeneousMatrix &eMc)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void get_cMe(vpHomogeneousMatrix &cMe) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
vpCameraParametersProjType
@ perspectiveProjWithoutDistortion
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Implementation of a pose vector and operations on poses.
Control of Irisa's gantry robot named Afma6.
static const double defaultPositioningVelocity
Class that defines a generic virtual robot.
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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.