50 #include <visp/vpHomogeneousMatrix.h>
51 #include <visp/vpMatrix.h>
52 #include <visp/vpColVector.h>
53 #include <visp/vpPoseVector.h>
72 STATE_ACCELERATION_CONTROL
94 } vpControlFrameType ;
127 virtual void get_eJe(
vpMatrix &_eJe) = 0 ;
129 virtual void get_fJe(
vpMatrix &_fJe) = 0 ;
132 virtual void getArticularDisplacement(
vpColVector &qdot) = 0 ;
134 virtual void getCameraDisplacement(
vpColVector &v) = 0 ;
139 double getMaxTranslationVelocity (
void)
const ;
140 double getMaxRotationVelocity (
void)
const;
150 virtual void init() = 0 ;
154 void setMaxRotationVelocity (
const double maxVr);
155 void setMaxTranslationVelocity (
const double maxVt);
170 int areJointLimitsAvailable ;
Definition of the vpMatrix class.
double maxTranslationVelocity
virtual vpRobotStateType getRobotState(void)
double maxRotationVelocity
Initialize the position controller.
class that defines a generic virtual robot
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
vpControlFrameType getRobotFrame(void)
static const double maxTranslationVelocityDefault
Initialize the velocity controller.
static const double maxRotationVelocityDefault
int nDof
number of degrees of freedom
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Class that provides a data structure for the column vectors as well as a set of operations on these v...
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available