#include <visp3/robot/vpRobotWireFrameSimulator.h>

Inheritance diagram for vpRobotWireFrameSimulator:

Public Types
enum	vpDisplayRobotType { MODEL_3D , MODEL_DH }

enum	vpRobotStateType { STATE_STOP , STATE_VELOCITY_CONTROL , STATE_POSITION_CONTROL , STATE_ACCELERATION_CONTROL , STATE_FORCE_TORQUE_CONTROL }

enum	vpControlFrameType { REFERENCE_FRAME , ARTICULAR_FRAME , JOINT_STATE = ARTICULAR_FRAME , END_EFFECTOR_FRAME , CAMERA_FRAME , TOOL_FRAME = CAMERA_FRAME , MIXT_FRAME }

Public Member Functions
	vpRobotWireFrameSimulator ()

	vpRobotWireFrameSimulator (bool display)

Inherited functionalities from vpRobotWireFrameSimulator
vpCameraParameters	getExternalCameraParameters () const

vpHomogeneousMatrix	getExternalCameraPosition () const

void	getInternalView (vpImage< vpRGBa > &I)

void	getInternalView (vpImage< unsigned char > &I)

vpHomogeneousMatrix	get_cMo ()

vpHomogeneousMatrix	get_fMo () const

void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)

void	initScene (const char obj, const char desiredObject)

void	initScene (const vpSceneObject &obj)

void	initScene (const char *obj)

void	setCameraColor (const vpColor &col)

void	setConstantSamplingTimeMode (const bool _constantSamplingTimeMode)

void	setCurrentViewColor (const vpColor &col)

void	setDesiredViewColor (const vpColor &col)

void	setDesiredCameraPosition (const vpHomogeneousMatrix &cdMo_)

void	setDisplayRobotType (const vpDisplayRobotType dispType)

void	setExternalCameraPosition (const vpHomogeneousMatrix &camMf_)

void	setGraphicsThickness (unsigned int thickness)

void	setSamplingTime (const double &delta_t)

void	setSingularityManagement (bool sm)

void	setVerbose (bool verbose)

void	set_fMo (const vpHomogeneousMatrix &fMo_)

Inherited functionalities from vpRobotSimulator
double	getSamplingTime () const

Inherited functionalities from vpRobot
virtual void	get_eJe (vpMatrix &_eJe)=0

virtual void	get_fJe (vpMatrix &_fJe)=0

virtual void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)=0

double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

int	getNDof () const

virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &position)=0

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

virtual vpRobotStateType	getRobotState (void) const

virtual void	init ()=0

void	setMaxRotationVelocity (double maxVr)

void	setMaxTranslationVelocity (double maxVt)

virtual void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)=0

virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

virtual void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0

Static Public Member Functions
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Public Attributes
vpImage< vpRGBa >	I

Protected Types
enum	vpSceneObject { THREE_PTS , CUBE , PLATE , SMALL_PLATE , RECTANGLE , SQUARE_10CM , DIAMOND , TRAPEZOID , THREE_LINES , ROAD , TIRE , PIPE , CIRCLE , SPHERE , CYLINDER , PLAN , POINT_CLOUD }

enum	vpSceneDesiredObject { D_STANDARD , D_CIRCLE , D_TOOL }

enum	vpCameraTrajectoryDisplayType { CT_LINE , CT_POINT }

Protected Member Functions
Inherited functionalities from vpWireFrameSimulator
void	deleteCameraPositionHistory ()

void	displayTrajectory (const vpImage< unsigned char > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)

void	displayTrajectory (const vpImage< vpRGBa > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)

vpCameraParameters	getExternalCameraParameters (const vpImage< unsigned char > &I) const

vpCameraParameters	getExternalCameraParameters (const vpImage< vpRGBa > &I) const

void	getExternalImage (vpImage< unsigned char > &I)

void	getExternalImage (vpImage< unsigned char > &I, const vpHomogeneousMatrix &camMf)

void	getExternalImage (vpImage< vpRGBa > &I)

void	getExternalImage (vpImage< vpRGBa > &I, const vpHomogeneousMatrix &camMf)

vpCameraParameters	getInternalCameraParameters (const vpImage< unsigned char > &I) const

vpCameraParameters	getInternalCameraParameters (const vpImage< vpRGBa > &I) const

void	getInternalImage (vpImage< unsigned char > &I)

void	getInternalImage (vpImage< vpRGBa > &I)

vpHomogeneousMatrix	get_cMo () const

void	get_cMo_History (std::list< vpHomogeneousMatrix > &cMo_history)

void	get_fMo_History (std::list< vpHomogeneousMatrix > &fMo_history)

void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject, const std::list< vpImageSimulator > &imObj)

void	initScene (const char obj, const char desiredObject, const std::list< vpImageSimulator > &imObj)

void	initScene (const vpSceneObject &obj, const std::list< vpImageSimulator > &imObj)

void	initScene (const char *obj, const std::list< vpImageSimulator > &imObj)

void	setCameraPositionRelObj (const vpHomogeneousMatrix &cMo_)

void	setCameraPositionRelWorld (const vpHomogeneousMatrix &fMc_)

void	setCameraSizeFactor (float factor)

void	setCameraTrajectoryColor (const vpColor &col)

void	setCameraTrajectoryDisplayType (const vpCameraTrajectoryDisplayType &camTraj_type)

void	setDisplayCameraTrajectory (const bool &do_display)

void	setExternalCameraParameters (const vpCameraParameters &cam)

void	setInternalCameraParameters (const vpCameraParameters &cam)

void	setNbPtTrajectory (unsigned int nbPt)

Protected Member Functions Inherited from vpWireFrameSimulator
void	display_scene (Matrix mat, Bound_scene &sc, const vpImage< vpRGBa > &I, const vpColor &color)

void	display_scene (Matrix mat, Bound_scene &sc, const vpImage< unsigned char > &I, const vpColor &color)

vpHomogeneousMatrix	navigation (const vpImage< vpRGBa > &I, bool &changed)

vpHomogeneousMatrix	navigation (const vpImage< unsigned char > &I, bool &changed)

vpImagePoint	projectCameraTrajectory (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)

vpImagePoint	projectCameraTrajectory (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)

vpImagePoint	projectCameraTrajectory (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)

vpImagePoint	projectCameraTrajectory (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)

Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void) const

Protected Attributes
double	tcur

double	tprev

Bound_scene *	robotArms

unsigned int	size_fMi

vpHomogeneousMatrix *	fMi

vpColVector	artCoord

vpColVector	artVel

vpColVector	velocity

std::thread *	m_thread

std::mutex	m_mutex_fMi

std::mutex	m_mutex_eMc

std::mutex	m_mutex_artVel

std::mutex	m_mutex_artCoord

std::mutex	m_mutex_velocity

std::mutex	m_mutex_display

std::mutex	m_mutex_robotStop

std::mutex	m_mutex_frame

std::mutex	m_mutex_setVelocityCalled

std::mutex	m_mutex_scene

bool	displayBusy

bool	robotStop

bool	jointLimit

unsigned int	jointLimitArt

bool	singularityManagement

vpCameraParameters	cameraParam

vpDisplayX	display

vpDisplayRobotType	displayType

bool	displayAllowed

bool	constantSamplingTimeMode

bool	setVelocityCalled

bool	verbose_

Bound_scene	scene

Bound_scene	desiredScene

Bound_scene	camera

std::list< vpImageSimulator >	objectImage

vpHomogeneousMatrix	fMo

vpHomogeneousMatrix	fMc

vpHomogeneousMatrix	camMf

vpHomogeneousMatrix	refMo

vpHomogeneousMatrix	cMo

vpHomogeneousMatrix	cdMo

vpSceneObject	object

vpSceneDesiredObject	desiredObject

vpColor	camColor

vpColor	camTrajColor

vpColor	curColor

vpColor	desColor

bool	sceneInitialized

bool	displayCameraTrajectory

std::list< vpImagePoint >	cameraTrajectory

std::list< vpHomogeneousMatrix >	poseList

std::list< vpHomogeneousMatrix >	fMoList

unsigned int	nbrPtLimit

vpImagePoint	old_iPr

vpImagePoint	old_iPz

vpImagePoint	old_iPt

bool	blockedr

bool	blockedz

bool	blockedt

bool	blocked

vpHomogeneousMatrix	camMf2

vpHomogeneousMatrix	f2Mf

double	px_int

double	py_int

double	px_ext

double	py_ext

bool	displayObject

bool	displayDesiredObject

bool	displayCamera

bool	displayImageSimulator

float	cameraFactor

vpCameraTrajectoryDisplayType	camTrajType

bool	extCamChanged

vpHomogeneousMatrix	rotz

unsigned int	thickness_

double	delta_t_

double	maxTranslationVelocity

double	maxRotationVelocity

int	nDof

vpMatrix	eJe

int	eJeAvailable

vpMatrix	fJe

int	fJeAvailable

int	areJointLimitsAvailable

double *	qmin

double *	qmax

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2

static const double	maxRotationVelocityDefault = 0.7

Protected Member Functions Inherited from vpRobotWireFrameSimulator
static void	launcher (vpRobotWireFrameSimulator &simulator)

virtual void	updateArticularPosition ()=0

virtual int	isInJointLimit ()=0

virtual void	computeArticularVelocity ()=0

void	initDisplay ()

virtual void	initArms ()=0

vpColVector	get_artCoord ()

void	set_artCoord (const vpColVector &coord)

vpColVector	get_artVel ()

void	set_artVel (const vpColVector &vel)

vpColVector	get_velocity ()

void	set_velocity (const vpColVector &vel)

void	set_displayBusy (const bool &status)

bool	get_displayBusy ()

virtual void	get_fMi (vpHomogeneousMatrix *fMit)=0

Detailed Description

This class aims to be a basis used to create all the simulators of robots.

Thus in this class you will find all the parameters and methods which are necessary to create a simulator. Several methods are pure virtual. In this case it means that they are specific to the each robot, for example the computation of the geometrical model.

Warning: This class uses threading capabilities. Thus on Unix-like platforms, the libpthread third-party library need to be installed. On Windows, we use the native threading capabilities.

Definition at line 78 of file vpRobotWireFrameSimulator.h.

Member Enumeration Documentation

◆ vpCameraTrajectoryDisplayType

enum vpWireFrameSimulator::vpCameraTrajectoryDisplayType

inherited

Enumerator
CT_LINE
CT_POINT

Definition at line 215 of file vpWireFrameSimulator.h.

◆ vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.
JOINT_STATE	Corresponds to the joint state.
END_EFFECTOR_FRAME	Corresponds to robot end-effector frame.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME	Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 74 of file vpRobot.h.

◆ vpDisplayRobotType

enum vpRobotWireFrameSimulator::vpDisplayRobotType

Enumerator
MODEL_3D
MODEL_DH

Definition at line 83 of file vpRobotWireFrameSimulator.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 62 of file vpRobot.h.

◆ vpSceneDesiredObject

enum vpWireFrameSimulator::vpSceneDesiredObject

inherited

Type of scene used to display the object at the desired pose (in the internal view).

D_STANDARD will use the vpSceneObject used to be the object at the current position.
D_OUTIL will display a tool which is attached to the camera.

Enumerator
D_STANDARD	The object displayed at the desired position is the same than the scene object defined in vpSceneObject.
D_CIRCLE	The object displayed at the desired position is a circle.
D_TOOL	A cylindrical tool is attached to the camera.

Definition at line 208 of file vpWireFrameSimulator.h.

◆ vpSceneObject

enum vpWireFrameSimulator::vpSceneObject

inherited

Type of scene used to display the object at the current position.

Enumerator
THREE_PTS	A 40cm by 40cm plate with 3 points at coordinates (0,0,0), (0.1,0,0), (0,0.1,0). Each point is represented by a circle with 2cm radius.
CUBE	A 12.5cm size cube.
PLATE	A 40cm by 40cm plate with 4 points at coordinates (-0.1,-0.1,0), (0.1,-0.1,0), (0.1,0.1,0), (0.1,0.1,0). Each point is represented by a circle with 2cm radius.
SMALL_PLATE	4 points at coordinates (-0.03,-0.03,0), (0.03,-0.03,0), (0.03,0.03,0), (0.03,0.03,0). Each point is represented by a circle with 1cm radius.
RECTANGLE	A 40cm by 40cm plate with 4 points at coordinates (-0.07,-0.05,0), (0.07,0.05,0), (0.07,-0.05,0), (-0.07,-0.05,0). Each point is represented by a circle with 2cm radius.
SQUARE_10CM	A 40cm by 40cm plate with 4 points at coordinates (-0.05,0.05,0), (0.05,0.05,0), (0.05,-0.05,0), (-0.05,-0.05,0). Each point is represented by a circle with 2cm radius.
DIAMOND	A 40cm by 40cm plate with 4 points at coordinates (0,-0.1,0), (0.1,0,0), (0,0.1,0), (-0.1,0,0). Each point is represented by a circle with 2cm radius.
TRAPEZOID	A 40cm by 40cm plate with 4 points at coordinates (-0.025,-0.05,0), (-0.075,0.05,0), (0.075,0.05,0), (0.025,-0.05,0). Each point is represented by a circle with 2cm radius.
THREE_LINES	Three parallel lines with equation y=-5, y=0, y=5.
ROAD	Three parallel lines representing a road.
TIRE	A tire represented by 2 circles with radius 10cm and 15cm.
PIPE	A pipe represented by a cylinder of 25 cm length and 15cm radius.
CIRCLE	A 10cm radius circle.
SPHERE	A 15cm radius sphere.
CYLINDER	A cylinder of 80cm length and 10cm radius.
PLAN	A plane represented by a 56cm by 56cm plate with a grid of 49 squares inside.
POINT_CLOUD	A plate with 8 points at coordinates (0.05,0,0), (0.15,0.05,0), (0.2,0.2,0), (-0.05,0.2,0), (-0.15,-0.1,0), (-0.1,-0.1,0), (-0.05,0.05,0) and (0.5,0,0). ach point is represented by a circle with 2cm radius.

Definition at line 157 of file vpWireFrameSimulator.h.

Constructor & Destructor Documentation

◆ vpRobotWireFrameSimulator() [1/2]

vpRobotWireFrameSimulator::vpRobotWireFrameSimulator ( )

Basic constructor

Definition at line 49 of file vpRobotWireFrameSimulator.cpp.

References display, I, vpDisplayX::init(), vpImage< Type >::resize(), vpColVector::resize(), setSamplingTime(), and velocity.

◆ vpRobotWireFrameSimulator() [2/2]

vpRobotWireFrameSimulator::vpRobotWireFrameSimulator ( bool do_display )

explicit

Default constructor.

Parameters

do_display : When true, enables the display of the external view.

Definition at line 74 of file vpRobotWireFrameSimulator.cpp.

References display, I, vpDisplayX::init(), vpImage< Type >::resize(), vpColVector::resize(), setSamplingTime(), and velocity.

Member Function Documentation

◆ computeArticularVelocity()

virtual void vpRobotWireFrameSimulator::computeArticularVelocity ( )

protectedpure virtual

Compute the articular velocity relative to the velocity in another frame.

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

◆ deleteCameraPositionHistory()

void vpWireFrameSimulator::deleteCameraPositionHistory ( )

inlineinherited

Delete the history of the main camera position which are displayed in the external views.

Definition at line 290 of file vpWireFrameSimulator.h.

◆ display_scene() [1/2]

void vpWireFrameSimulator::display_scene	(	Matrix	mat,
		Bound_scene &	sc,
		const vpImage< unsigned char > &	I,
		const vpColor &	color
	)

protectedinherited

Definition at line 119 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpWireFrameSimulator::thickness_.

◆ display_scene() [2/2]

void vpWireFrameSimulator::display_scene	(	Matrix	mat,
		Bound_scene &	sc,
		const vpImage< vpRGBa > &	I,
		const vpColor &	color
	)

protectedinherited

Definition at line 75 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpWireFrameSimulator::thickness_.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ displayTrajectory() [1/2]

void vpWireFrameSimulator::displayTrajectory	(	const vpImage< unsigned char > &	I,
		const std::list< vpHomogeneousMatrix > &	list_cMo,
		const std::list< vpHomogeneousMatrix > &	list_fMo,
		const vpHomogeneousMatrix &	cMf
	)

inherited

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame.

Definition at line 1266 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpWireFrameSimulator::thickness_.

◆ displayTrajectory() [2/2]

void vpWireFrameSimulator::displayTrajectory	(	const vpImage< vpRGBa > &	I,
		const std::list< vpHomogeneousMatrix > &	list_cMo,
		const std::list< vpHomogeneousMatrix > &	list_fMo,
		const vpHomogeneousMatrix &	cMf
	)

inherited

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame.

Definition at line 1312 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpWireFrameSimulator::thickness_.

◆ get_artCoord()

vpColVector vpRobotWireFrameSimulator::get_artCoord ( )

inlineprotected

Definition at line 350 of file vpRobotWireFrameSimulator.h.

◆ get_artVel()

vpColVector vpRobotWireFrameSimulator::get_artVel ( )

inlineprotected

Definition at line 365 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ get_cMo() [1/2]

vpHomogeneousMatrix vpRobotWireFrameSimulator::get_cMo ( )

Get the pose between the object and the robot's camera.

Returns: The pose between the object and the fixed world frame.

Definition at line 348 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::fMo, get_fMi(), vpHomogeneousMatrix::inverse(), and size_fMi.

Referenced by vpSimulatorAfma6::setPosition().

◆ get_cMo() [2/2]

vpHomogeneousMatrix vpWireFrameSimulator::get_cMo ( ) const

inlineinherited

Get the pose between the object and the camera.

Returns: The pose between between the object and the camera.

Definition at line 401 of file vpWireFrameSimulator.h.

◆ get_cMo_History()

void vpWireFrameSimulator::get_cMo_History ( std::list< vpHomogeneousMatrix > & cMo_history )

inlineinherited

Get the homogeneous matrices cMo stored to display the camera trajectory.

Parameters

cMo_history : The list of the homogeneous matrices cMo.

Definition at line 409 of file vpWireFrameSimulator.h.

◆ get_displayBusy()

bool vpRobotWireFrameSimulator::get_displayBusy ( )

inlineprotected

Definition at line 399 of file vpRobotWireFrameSimulator.h.

Referenced by getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ get_eJe()

virtual void vpRobot::get_eJe ( vpMatrix & _eJe )

pure virtualinherited

Get the robot Jacobian expressed in the end-effector frame.

Implemented in vpRobotTemplate, vpSimulatorViper850, vpSimulatorPioneerPan, vpSimulatorPioneer, vpSimulatorCamera, vpSimulatorAfma6, vpRobotViper850, vpRobotViper650, vpRobotPololuPtu, vpRobotPioneer, vpRobotKinova, vpRobotFranka, vpRobotFlirPtu, vpRobotCamera, vpRobotBiclops, vpRobotAfma4, vpRobotPtu46, and vpRobotAfma6.

◆ get_fJe()

virtual void vpRobot::get_fJe ( vpMatrix & _fJe )

pure virtualinherited

Get the robot Jacobian expressed in the robot reference (or world) frame.

Implemented in vpRobotTemplate, vpSimulatorViper850, vpSimulatorAfma6, vpRobotViper850, vpRobotViper650, vpRobotPololuPtu, vpRobotKinova, vpRobotFranka, vpRobotFlirPtu, vpRobotBiclops, vpRobotAfma4, vpRobotPtu46, and vpRobotAfma6.

◆ get_fMi()

virtual void vpRobotWireFrameSimulator::get_fMi ( vpHomogeneousMatrix * fMit )

protectedpure virtual

Get a table of poses between the reference frame and the frames you used to compute the Denavit-Hartenberg representation

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

Referenced by get_cMo(), and getInternalView().

◆ get_fMo()

vpHomogeneousMatrix vpRobotWireFrameSimulator::get_fMo ( ) const

inline

Get the pose between the object and the fixed world frame.

Returns: The pose between the object and the fixed world frame.

Definition at line 209 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::fMo.

◆ get_fMo_History()

void vpWireFrameSimulator::get_fMo_History ( std::list< vpHomogeneousMatrix > & fMo_history )

inlineinherited

Get the homogeneous matrices fMo stored to display the camera trajectory.

Parameters

fMo_history : The list of the homogeneous matrices fMo.

Definition at line 430 of file vpWireFrameSimulator.h.

◆ get_velocity()

vpColVector vpRobotWireFrameSimulator::get_velocity ( )

inlineprotected

Definition at line 379 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ getDisplacement()

virtual void vpRobot::getDisplacement	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q
	)

pure virtualinherited

Get a displacement (frame as to ve specified) between two successive position control.

Implemented in vpRobotPtu46, vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpRobotTemplate, vpRobotKinova, vpRobotFlirPtu, vpSimulatorViper850, vpSimulatorAfma6, and vpRobotBiclops.

◆ getExternalCameraParameters() [1/3]

vpCameraParameters vpRobotWireFrameSimulator::getExternalCameraParameters ( ) const

inline

Get the parameters of the virtual external camera.

Returns: It returns the camera parameters.

Definition at line 176 of file vpRobotWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

◆ getExternalCameraParameters() [2/3]

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< unsigned char > & I ) const

inlineinherited

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 309 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

Referenced by vpWireFrameSimulator::projectCameraTrajectory().

◆ getExternalCameraParameters() [3/3]

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inlineinherited

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 328 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

◆ getExternalCameraPosition()

vpHomogeneousMatrix vpRobotWireFrameSimulator::getExternalCameraPosition ( ) const

inline

Get the external camera's position relative to the the world reference frame.

Returns: the main external camera position relative to the the world reference frame.

Definition at line 195 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::getExternalCameraPosition().

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ getExternalImage() [1/4]

void vpWireFrameSimulator::getExternalImage ( vpImage< unsigned char > & I )

inherited

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 1071 of file vpWireFrameSimulator.cpp.

◆ getExternalImage() [2/4]

void vpWireFrameSimulator::getExternalImage	(	vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cam_Mf
	)

inherited

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
cam_Mf	: The pose between the point of view and the fixed world frame.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1200 of file vpWireFrameSimulator.cpp.

◆ getExternalImage() [3/4]

void vpWireFrameSimulator::getExternalImage ( vpImage< vpRGBa > & I )

inherited

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 808 of file vpWireFrameSimulator.cpp.

◆ getExternalImage() [4/4]

void vpWireFrameSimulator::getExternalImage	(	vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cam_Mf
	)

inherited

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
cam_Mf	: The pose between the point of view and the fixed world frame.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 938 of file vpWireFrameSimulator.cpp.

◆ getInternalCameraParameters() [1/2]

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< unsigned char > & I ) const

inlineinherited

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 361 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::getInternalImage().

◆ getInternalCameraParameters() [2/2]

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inlineinherited

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 380 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

◆ getInternalImage() [1/2]

void vpWireFrameSimulator::getInternalImage ( vpImage< unsigned char > & I )

inherited

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 997 of file vpWireFrameSimulator.cpp.

◆ getInternalImage() [2/2]

void vpWireFrameSimulator::getInternalImage ( vpImage< vpRGBa > & I )

inherited

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 734 of file vpWireFrameSimulator.cpp.

◆ getInternalView() [1/2]

void vpRobotWireFrameSimulator::getInternalView ( vpImage< unsigned char > & I_ )

Get the view of the camera's robot.

According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.

Parameters

I_	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 279 of file vpRobotWireFrameSimulator.cpp.

◆ getInternalView() [2/2]

void vpRobotWireFrameSimulator::getInternalView ( vpImage< vpRGBa > & I_ )

Get the view of the camera's robot.

According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.

Parameters

I_	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 205 of file vpRobotWireFrameSimulator.cpp.

Referenced by vpSimulatorAfma6::setPosition().

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 270 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns: Maximum translational velocity expressed in m/s.

Definition at line 248 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

◆ getNDof()

int vpRobot::getNDof ( ) const

inlineinherited

Return robot degrees of freedom number.

Examples: servoPololuPtuPoint2DJointVelocity.cpp.

Definition at line 143 of file vpRobot.h.

◆ getPosition() [1/2]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 213 of file vpRobot.cpp.

References vpRobot::getPosition().

◆ getPosition() [2/2]

virtual void vpRobot::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	position
	)

pure virtualinherited

Get the robot position (frame has to be specified).

Implemented in vpSimulatorViper850, vpSimulatorPioneerPan, vpSimulatorPioneer, vpSimulatorCamera, vpSimulatorAfma6, vpRobotTemplate, vpRobotPtu46, vpRobotPololuPtu, vpRobotFlirPtu, vpRobotCamera, vpRobotBiclops, vpRobotViper850, vpRobotUniversalRobots, vpRobotKinova, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, and vpRobotViper650.

Referenced by vpRobot::getPosition().

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 181 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 153 of file vpRobot.h.

◆ getSamplingTime()

double vpRobotSimulator::getSamplingTime ( ) const

inlineinherited

Return the sampling time.

Returns: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Definition at line 72 of file vpRobotSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ init()

virtual void vpRobot::init ( )

pure virtualinherited

Implemented in vpRobotViper850, vpRobotViper650, vpRobotPtu46, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotTemplate, vpRobotBiclops, vpRobotUniversalRobots, vpRobotPioneer, vpRobotKinova, and vpRobotFlirPtu.

◆ initArms()

virtual void vpRobotWireFrameSimulator::initArms ( )

protectedpure virtual

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

◆ initDisplay()

void vpRobotWireFrameSimulator::initDisplay ( )

inlineprotected

Definition at line 347 of file vpRobotWireFrameSimulator.h.

◆ initScene() [1/8]

void vpRobotWireFrameSimulator::initScene ( const char * obj )

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file, or the vrml file.

Parameters

obj	: Path to the scene file you want to use.

Definition at line 182 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

◆ initScene() [2/8]

void vpRobotWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desired_object
	)

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file. It is also possible to use a vrml (.wrl) file.

Parameters

obj	: Path to the scene file you want to use.
desired_object	: Path to the scene file you want to use.

Definition at line 136 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

◆ initScene() [3/8]

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desired_object,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
desired_object	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 503 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

◆ initScene() [4/8]

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 719 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

◆ initScene() [5/8]

void vpRobotWireFrameSimulator::initScene ( const vpSceneObject & obj )

Initialize the display. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.

Definition at line 160 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

◆ initScene() [6/8]

void vpWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
imObj	: A list of vpImageSimulator instances.

Definition at line 645 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

◆ initScene() [7/8]

void vpRobotWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object
	)

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.
desired_object	: Type of scene used to display the object at the desired pose (in the internal view).

Definition at line 111 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::initScene(), and m_mutex_scene.

◆ initScene() [8/8]

void vpWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
desired_object	: Type of scene used to display the object at the desired pose (in the internal view).
imObj	: A list of vpImageSimulator instances.

Definition at line 410 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

◆ isInJointLimit()

virtual int vpRobotWireFrameSimulator::isInJointLimit ( )

protectedpure virtual

Method used to check if the robot reached a joint limit.

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

◆ launcher()

static void vpRobotWireFrameSimulator::launcher ( vpRobotWireFrameSimulator & simulator )

inlinestaticprotected

Function used to launch the thread which moves the robot.

Definition at line 330 of file vpRobotWireFrameSimulator.h.

References updateArticularPosition().

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().

◆ navigation() [1/2]

vpHomogeneousMatrix vpWireFrameSimulator::navigation	(	const vpImage< unsigned char > &	I,
		bool &	changed
	)

protectedinherited

Enables to change the external camera position.

Definition at line 1432 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::blocked, vpWireFrameSimulator::blockedr, vpWireFrameSimulator::blockedt, vpWireFrameSimulator::blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), vpWireFrameSimulator::old_iPr, vpWireFrameSimulator::old_iPt, vpWireFrameSimulator::old_iPz, and vpMath::rad().

◆ navigation() [2/2]

vpHomogeneousMatrix vpWireFrameSimulator::navigation	(	const vpImage< vpRGBa > &	I,
		bool &	changed
	)

protectedinherited

◆ projectCameraTrajectory() [1/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1541 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

◆ projectCameraTrajectory() [2/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_,
		const vpHomogeneousMatrix &	cMf
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1579 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

◆ projectCameraTrajectory() [3/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1523 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

◆ projectCameraTrajectory() [4/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_,
		const vpHomogeneousMatrix &	cMf
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1560 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = `false`
	)

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
 
#include <visp3/robot/vpRobot.h>
 
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
 
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
 
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
 
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
 
  return 0;
}

Definition at line 160 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ set_artCoord()

void vpRobotWireFrameSimulator::set_artCoord ( const vpColVector & coord )

inlineprotected

Definition at line 358 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ set_artVel()

void vpRobotWireFrameSimulator::set_artVel ( const vpColVector & vel )

inlineprotected

Definition at line 372 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ set_displayBusy()

void vpRobotWireFrameSimulator::set_displayBusy ( const bool & status )

inlineprotected

Definition at line 393 of file vpRobotWireFrameSimulator.h.

Referenced by getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ set_fMo()

void vpRobotWireFrameSimulator::set_fMo ( const vpHomogeneousMatrix & fMo_ )

inline

Set the pose between the object and the fixed world frame.

Parameters

fMo_	: The pose between the object and the fixed world frame.

Definition at line 320 of file vpRobotWireFrameSimulator.h.

◆ set_velocity()

void vpRobotWireFrameSimulator::set_velocity ( const vpColVector & vel )

inlineprotected

Definition at line 386 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

◆ setCameraColor()

void vpRobotWireFrameSimulator::setCameraColor ( const vpColor & col )

inline

Set the color used to display the camera in the external view.

Parameters

col	: The desired color.

Definition at line 222 of file vpRobotWireFrameSimulator.h.

◆ setCameraPositionRelObj()

void vpWireFrameSimulator::setCameraPositionRelObj ( const vpHomogeneousMatrix & cMo_ )

inlineinherited

Set the transformation between the camera frame and the object frame.

Parameters

cMo_	: The pose of the object in the camera frame.

Examples: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 454 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

◆ setCameraPositionRelWorld()

void vpWireFrameSimulator::setCameraPositionRelWorld ( const vpHomogeneousMatrix & fMc_ )

inlineinherited

Set the position of the the world reference frame relative to the camera.

Parameters

fMc_	: The pose of the camera.

Definition at line 466 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

◆ setCameraSizeFactor()

void vpWireFrameSimulator::setCameraSizeFactor ( float factor )

inlineinherited

Set the parameter which enables to choose the size of the main camera in the external camera views. By default this parameter is set to 1.

Parameters

factor : The ration for the camera size.

Definition at line 478 of file vpWireFrameSimulator.h.

◆ setCameraTrajectoryColor()

void vpWireFrameSimulator::setCameraTrajectoryColor ( const vpColor & col )

inlineinherited

Set the color used to display the camera trajectory in the external view.

Parameters

col	: The desired color.

Definition at line 486 of file vpWireFrameSimulator.h.

◆ setCameraTrajectoryDisplayType()

void vpWireFrameSimulator::setCameraTrajectoryDisplayType ( const vpCameraTrajectoryDisplayType & camTraj_type )

inlineinherited

Set the way to display the history of the main camera trajectory in the main external view. The choice is given between displaying lines and points.

Parameters

camTraj_type : The chosen way to display the camera trajectory.

Definition at line 495 of file vpWireFrameSimulator.h.

◆ setConstantSamplingTimeMode()

void vpRobotWireFrameSimulator::setConstantSamplingTimeMode ( const bool _constantSamplingTimeMode )

inline

Set the flag used to force the sampling time in the thread computing the robot's displacement to a constant value; see setSamplingTime(). It may be useful if the main thread (computing the features) is very time consuming. False by default.

Parameters

_constantSamplingTimeMode : The new value of the constantSamplingTimeMode flag.

Definition at line 233 of file vpRobotWireFrameSimulator.h.

◆ setCurrentViewColor()

void vpRobotWireFrameSimulator::setCurrentViewColor ( const vpColor & col )

inline

Set the color used to display the object at the current position in the robot's camera view.

Parameters

col	: The desired color.

Definition at line 244 of file vpRobotWireFrameSimulator.h.

◆ setDesiredCameraPosition()

void vpRobotWireFrameSimulator::setDesiredCameraPosition ( const vpHomogeneousMatrix & cdMo_ )

inline

Set the desired position of the robot's camera relative to the object.

Parameters

cdMo_ : The desired pose of the camera.

Definition at line 259 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::setDesiredCameraPosition().

◆ setDesiredViewColor()

void vpRobotWireFrameSimulator::setDesiredViewColor ( const vpColor & col )

inline

Set the color used to display the object at the desired position in the robot's camera view.

Parameters

col	: The desired color.

Definition at line 252 of file vpRobotWireFrameSimulator.h.

◆ setDisplayCameraTrajectory()

void vpWireFrameSimulator::setDisplayCameraTrajectory ( const bool & do_display )

inlineinherited

Enable or disable the displaying of the camera trajectory in the main external camera view.

By default the trajectory is displayed.

Parameters

do_display : Set to true to display the camera trajectory.

Definition at line 526 of file vpWireFrameSimulator.h.

◆ setDisplayRobotType()

void vpRobotWireFrameSimulator::setDisplayRobotType ( const vpDisplayRobotType dispType )

inline

Set the way to draw the robot. Depending on what you choose you can display a 3D wireframe model or a set of lines linking the frames used to compute the geometrical model.

Parameters

dispType : Type of display. Can be MODEL_3D or MODEL_DH.

Definition at line 271 of file vpRobotWireFrameSimulator.h.

◆ setExternalCameraParameters()

void vpWireFrameSimulator::setExternalCameraParameters ( const vpCameraParameters & cam )

inlineinherited

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 533 of file vpWireFrameSimulator.h.

References vpCameraParameters::get_px(), and vpCameraParameters::get_py().

Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().

◆ setExternalCameraPosition()

void vpRobotWireFrameSimulator::setExternalCameraPosition ( const vpHomogeneousMatrix & camMf_ )

inline

Set the external camera point of view.

Parameters

camMf_ : The pose of the external camera relative to the world reference frame.

Definition at line 278 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::setExternalCameraPosition().

Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().

◆ setGraphicsThickness()

void vpRobotWireFrameSimulator::setGraphicsThickness ( unsigned int thickness )

inline

Specify the thickness of the graphics drawings.

Definition at line 285 of file vpRobotWireFrameSimulator.h.

◆ setInternalCameraParameters()

void vpWireFrameSimulator::setInternalCameraParameters ( const vpCameraParameters & cam )

inlineinherited

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 564 of file vpWireFrameSimulator.h.

References vpCameraParameters::get_px(), and vpCameraParameters::get_py().

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max : Maximum rotational velocity expressed in rad/s.

Examples: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, testFeatureSegment.cpp, testFrankaJointVelocityLimits.cpp, and testRobotFlirPtu.cpp.

Definition at line 257 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max : Maximum translation velocity expressed in m/s.

Examples: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 236 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition().

◆ setNbPtTrajectory()

void vpWireFrameSimulator::setNbPtTrajectory ( unsigned int nbPt )

inlineinherited

Set the maximum number of main camera's positions which are stored. Those position can be displayed in the external camera field of view. By default this parameter is set to 1000.

Parameters

nbPt	: The desired number of position which are saved.

Definition at line 577 of file vpWireFrameSimulator.h.

◆ setPosition()

virtual void vpRobot::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	q
	)

pure virtualinherited

Set a displacement (frame has to be specified) in position control.

Implemented in vpSimulatorViper850, vpSimulatorAfma6, vpRobotTemplate, vpRobotPtu46, vpRobotPololuPtu, vpRobotKinova, vpRobotFlirPtu, vpRobotBiclops, vpRobotViper850, vpRobotViper650, vpRobotUniversalRobots, vpRobotFranka, vpRobotAfma6, and vpRobotAfma4.

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 204 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType newState )

virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotUniversalRobots, vpRobotPtu46, vpRobotFranka, vpRobotFlirPtu, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotPololuPtu, and vpRobotBiclops.

Examples: UniversalRobotsMoveToPosition.cpp, UniversalRobotsSavePosition.cpp, frankaMoveToPosition.cpp, frankaSavePosition.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoKinovaJacoCart.cpp, servoKinovaJacoJoint.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointPosition.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testRobotFlirPtu.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testUniversalRobotsCartPosition.cpp, testUniversalRobotsCartVelocity.cpp, testUniversalRobotsJointPosition.cpp, testUniversalRobotsJointVelocity.cpp, testVirtuoseAfma6.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 198 of file vpRobot.cpp.

◆ setSamplingTime()

void vpRobotWireFrameSimulator::setSamplingTime ( const double & delta_t )

inlinevirtual

Set the sampling time.

Parameters

delta_t : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Since the wireframe simulator is threaded, the sampling time is set to vpTime::getMinTimeForUsleepCall() / 1000 seconds.

Reimplemented from vpRobotSimulator.

Definition at line 296 of file vpRobotWireFrameSimulator.h.

References vpTime::getMinTimeForUsleepCall().

Referenced by vpRobotWireFrameSimulator().

◆ setSingularityManagement()

void vpRobotWireFrameSimulator::setSingularityManagement ( bool sm )

inline

Set the parameter which enable or disable the singularity management.

Definition at line 308 of file vpRobotWireFrameSimulator.h.

◆ setVelocity()

virtual void vpRobot::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel
	)

pure virtualinherited

Set the velocity (frame has to be specified) that will be applied to the velocity controller.

Implemented in vpSimulatorViper850, vpSimulatorAfma6, vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorPioneerPan, vpSimulatorPioneer, vpSimulatorCamera, vpRobotUniversalRobots, vpRobotTemplate, vpRobotPioneer, vpRobotKinova, vpRobotFranka, vpRobotFlirPtu, vpRobotCamera, vpRobotPtu46, vpRobotPololuPtu, and vpRobotBiclops.

◆ setVerbose()

void vpRobotWireFrameSimulator::setVerbose ( bool verbose )

inline

Activates extra printings when the robot reaches joint limits...

Definition at line 313 of file vpRobotWireFrameSimulator.h.

◆ updateArticularPosition()

virtual void vpRobotWireFrameSimulator::updateArticularPosition ( )

protectedpure virtual

Method launched by the thread to compute the position of the robot in the articular frame.

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

Referenced by launcher().

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ artCoord

vpColVector vpRobotWireFrameSimulator::artCoord

protected

The articular coordinates

Definition at line 105 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::init(), and vpSimulatorViper850::init().

◆ artVel

vpColVector vpRobotWireFrameSimulator::artVel

protected

The articular velocity

Definition at line 107 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::init(), and vpSimulatorViper850::init().

◆ blocked

bool vpWireFrameSimulator::blocked

protectedinherited

Definition at line 252 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

◆ blockedr

bool vpWireFrameSimulator::blockedr

protectedinherited

Definition at line 249 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

◆ blockedt

bool vpWireFrameSimulator::blockedt

protectedinherited

Definition at line 251 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

◆ blockedz

bool vpWireFrameSimulator::blockedz

protectedinherited

Definition at line 250 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

◆ camColor

vpColor vpWireFrameSimulator::camColor

protectedinherited

Definition at line 233 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ camera

Bound_scene vpWireFrameSimulator::camera

protectedinherited

Definition at line 220 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ cameraFactor

float vpWireFrameSimulator::cameraFactor

protectedinherited

Definition at line 267 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), and vpWireFrameSimulator::initScene().

◆ cameraParam

vpCameraParameters vpRobotWireFrameSimulator::cameraParam

protected

External camera parameters

Definition at line 136 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ cameraTrajectory

std::list<vpImagePoint> vpWireFrameSimulator::cameraTrajectory

protectedinherited

Definition at line 241 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ camMf

vpHomogeneousMatrix vpWireFrameSimulator::camMf

protectedinherited

Definition at line 225 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::projectCameraTrajectory().

◆ camMf2

vpHomogeneousMatrix vpWireFrameSimulator::camMf2

protectedinherited

Definition at line 254 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ camTrajColor

vpColor vpWireFrameSimulator::camTrajColor

protectedinherited

Definition at line 234 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

◆ camTrajType

vpCameraTrajectoryDisplayType vpWireFrameSimulator::camTrajType

protectedinherited

Definition at line 269 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

◆ cdMo

vpHomogeneousMatrix vpWireFrameSimulator::cdMo

protectedinherited

Definition at line 228 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ cMo

vpHomogeneousMatrix vpWireFrameSimulator::cMo

protectedinherited

Definition at line 227 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ constantSamplingTimeMode

bool vpRobotWireFrameSimulator::constantSamplingTimeMode

protected

Flag used to force the sampling time in the thread computing the robot's displacement to a constant value (samplingTime). It may be useful if the main thread (computing the features) is very time consuming. False by default.

Definition at line 157 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ curColor

vpColor vpWireFrameSimulator::curColor

protectedinherited

Definition at line 235 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ delta_t_

double vpRobotSimulator::delta_t_

protectedinherited

Definition at line 59 of file vpRobotSimulator.h.

Referenced by vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

◆ desColor

vpColor vpWireFrameSimulator::desColor

protectedinherited

Definition at line 236 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ desiredObject

vpSceneDesiredObject vpWireFrameSimulator::desiredObject

protectedinherited

Definition at line 231 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), and vpWireFrameSimulator::initScene().

◆ desiredScene

Bound_scene vpWireFrameSimulator::desiredScene

protectedinherited

Definition at line 219 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ display

vpDisplayX vpRobotWireFrameSimulator::display

protected

Definition at line 139 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator().

◆ displayAllowed

bool vpRobotWireFrameSimulator::displayAllowed

protected

Definition at line 152 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ displayBusy

bool vpRobotWireFrameSimulator::displayBusy

protected

Definition at line 124 of file vpRobotWireFrameSimulator.h.

◆ displayCamera

bool vpWireFrameSimulator::displayCamera

protectedinherited

Definition at line 264 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ displayCameraTrajectory

bool vpWireFrameSimulator::displayCameraTrajectory

protectedinherited

Definition at line 240 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

◆ displayDesiredObject

bool vpWireFrameSimulator::displayDesiredObject

protectedinherited

Definition at line 263 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ displayImageSimulator

bool vpWireFrameSimulator::displayImageSimulator

protectedinherited

Definition at line 265 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::initScene().

◆ displayObject

bool vpWireFrameSimulator::displayObject

protectedinherited

Definition at line 262 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ displayType

vpDisplayRobotType vpRobotWireFrameSimulator::displayType

protected

Definition at line 150 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 104 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_eJe(), vpRobotAfma6::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotAfma4::get_eJe(), vpRobotBiclops::get_eJe(), vpRobotCamera::get_eJe(), vpRobotKinova::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpSimulatorCamera::get_eJe(), vpRobot::operator=(), and vpRobotAfma4::setVelocity().

◆ eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 106 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ extCamChanged

bool vpWireFrameSimulator::extCamChanged

protectedinherited

Definition at line 271 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

◆ f2Mf

vpHomogeneousMatrix vpWireFrameSimulator::f2Mf

protectedinherited

Definition at line 255 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 108 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_fJe(), vpRobotAfma6::get_fJe(), vpRobotPtu46::get_fJe(), vpRobotAfma4::get_fJe(), vpRobotBiclops::get_fJe(), vpRobotKinova::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), and vpRobot::operator=().

◆ fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 110 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ fMc

vpHomogeneousMatrix vpWireFrameSimulator::fMc

protectedinherited

Definition at line 224 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

◆ fMi

vpHomogeneousMatrix* vpRobotWireFrameSimulator::fMi

protected

Table containing all the homogeneous matrices between the reference frame of the robot and the frames you used to compute the Denavit-Hartenberg representation

If you use a camera at the end of the effector, the last homogeneous matrix has to be the one between the reference frame and the camera frame (fMc)

Definition at line 102 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ fMo

vpHomogeneousMatrix vpWireFrameSimulator::fMo

protectedinherited

Definition at line 223 of file vpWireFrameSimulator.h.

Referenced by get_cMo(), get_fMo(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), and vpSimulatorViper850::initialiseObjectRelativeToCamera().

◆ fMoList

std::list<vpHomogeneousMatrix> vpWireFrameSimulator::fMoList

protectedinherited

Definition at line 243 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ I

vpImage<vpRGBa> vpRobotWireFrameSimulator::I

Definition at line 81 of file vpRobotWireFrameSimulator.h.

Referenced by getInternalView(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().

◆ jointLimit

bool vpRobotWireFrameSimulator::jointLimit

protected

True if one of the joint reach the limit

Definition at line 129 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ jointLimitArt

unsigned int vpRobotWireFrameSimulator::jointLimitArt

protected

Index of the joint which is in limit

Definition at line 131 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ m_mutex_artCoord

std::mutex vpRobotWireFrameSimulator::m_mutex_artCoord

protected

Definition at line 116 of file vpRobotWireFrameSimulator.h.

◆ m_mutex_artVel

std::mutex vpRobotWireFrameSimulator::m_mutex_artVel

protected

Definition at line 115 of file vpRobotWireFrameSimulator.h.

◆ m_mutex_display

std::mutex vpRobotWireFrameSimulator::m_mutex_display

protected

Definition at line 118 of file vpRobotWireFrameSimulator.h.

◆ m_mutex_eMc

std::mutex vpRobotWireFrameSimulator::m_mutex_eMc

protected

Definition at line 114 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::init(), and vpSimulatorViper850::init().

◆ m_mutex_fMi

std::mutex vpRobotWireFrameSimulator::m_mutex_fMi

protected

Definition at line 113 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::compute_fMi(), and vpSimulatorViper850::compute_fMi().

◆ m_mutex_frame

std::mutex vpRobotWireFrameSimulator::m_mutex_frame

protected

Definition at line 120 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ m_mutex_robotStop

std::mutex vpRobotWireFrameSimulator::m_mutex_robotStop

protected

Definition at line 119 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ m_mutex_scene

std::mutex vpRobotWireFrameSimulator::m_mutex_scene

protected

Definition at line 122 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), and initScene().

◆ m_mutex_setVelocityCalled

std::mutex vpRobotWireFrameSimulator::m_mutex_setVelocityCalled

protected

Definition at line 121 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ m_mutex_velocity

std::mutex vpRobotWireFrameSimulator::m_mutex_velocity

protected

Definition at line 117 of file vpRobotWireFrameSimulator.h.

◆ m_thread

std::thread* vpRobotWireFrameSimulator::m_thread

protected

Definition at line 111 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobot::getMaxRotationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot::operator=(), vpRobot::setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 99 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 96 of file vpRobot.h.

Referenced by vpRobot::getMaxTranslationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().

◆ maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().

◆ nbrPtLimit

unsigned int vpWireFrameSimulator::nbrPtLimit

protectedinherited

Definition at line 244 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

◆ nDof

int vpRobot::nDof

protectedinherited

◆ object

vpSceneObject vpWireFrameSimulator::object

protectedinherited

Definition at line 230 of file vpWireFrameSimulator.h.

◆ objectImage

std::list<vpImageSimulator> vpWireFrameSimulator::objectImage

protectedinherited

Definition at line 221 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::initScene().

◆ old_iPr

vpImagePoint vpWireFrameSimulator::old_iPr

protectedinherited

Definition at line 246 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ old_iPt

vpImagePoint vpWireFrameSimulator::old_iPt

protectedinherited

Definition at line 248 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ old_iPz

vpImagePoint vpWireFrameSimulator::old_iPz

protectedinherited

Definition at line 247 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ poseList

std::list<vpHomogeneousMatrix> vpWireFrameSimulator::poseList

protectedinherited

Definition at line 242 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ px_ext

double vpWireFrameSimulator::px_ext

protectedinherited

Definition at line 259 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ px_int

double vpWireFrameSimulator::px_int

protectedinherited

Definition at line 257 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), and vpSimulatorViper850::setCameraParameters().

◆ py_ext

double vpWireFrameSimulator::py_ext

protectedinherited

Definition at line 260 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ py_int

double vpWireFrameSimulator::py_int

protectedinherited

Definition at line 258 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), and vpSimulatorViper850::setCameraParameters().

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 114 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

◆ refMo

vpHomogeneousMatrix vpWireFrameSimulator::refMo

protectedinherited

Definition at line 226 of file vpWireFrameSimulator.h.

◆ robotArms

Bound_scene* vpRobotWireFrameSimulator::robotArms

protected

Contains the 3D model of the robot's arms

Definition at line 92 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpSimulatorAfma6::init(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ robotStop

bool vpRobotWireFrameSimulator::robotStop

protected

True if the robot has to be stopped

Definition at line 127 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ rotz

vpHomogeneousMatrix vpWireFrameSimulator::rotz

protectedinherited

Definition at line 273 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::projectCameraTrajectory(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ scene

Bound_scene vpWireFrameSimulator::scene

protectedinherited

Definition at line 218 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ sceneInitialized

bool vpWireFrameSimulator::sceneInitialized

protectedinherited

Definition at line 238 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ setVelocityCalled

bool vpRobotWireFrameSimulator::setVelocityCalled

protected

Flag used to specify to the thread managing the robot displacements that the setVelocity() method has been called.

Definition at line 161 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ singularityManagement

bool vpRobotWireFrameSimulator::singularityManagement

protected

True if the singularity are automatically managed

Definition at line 133 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ size_fMi

unsigned int vpRobotWireFrameSimulator::size_fMi

protected

Size of the fMi table

Definition at line 95 of file vpRobotWireFrameSimulator.h.

Referenced by get_cMo(), getInternalView(), vpSimulatorAfma6::init(), and vpSimulatorViper850::init().

◆ tcur

double vpRobotWireFrameSimulator::tcur

protected

cpu time at the begining of the robot's movement

Definition at line 87 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().

◆ thickness_

unsigned int vpWireFrameSimulator::thickness_

protectedinherited

Definition at line 275 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ tprev

double vpRobotWireFrameSimulator::tprev

protected

cpu time at the end of the last robot's movement

Definition at line 89 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ velocity

vpColVector vpRobotWireFrameSimulator::velocity

protected

The velocity in the current frame (articular, camera or reference)

Definition at line 109 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator().

◆ verbose_

bool vpRobotWireFrameSimulator::verbose_

protected

Definition at line 163 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Protected Member Functions Inherited from vpRobotWireFrameSimulator

Detailed Description

Member Enumeration Documentation

◆ vpCameraTrajectoryDisplayType

◆ vpControlFrameType

◆ vpDisplayRobotType

◆ vpRobotStateType

◆ vpSceneDesiredObject

◆ vpSceneObject

Constructor & Destructor Documentation

◆ vpRobotWireFrameSimulator() [1/2]

◆ vpRobotWireFrameSimulator() [2/2]

Member Function Documentation

◆ computeArticularVelocity()

◆ deleteCameraPositionHistory()

◆ display_scene() [1/2]

◆ display_scene() [2/2]

◆ displayTrajectory() [1/2]

◆ displayTrajectory() [2/2]

◆ get_artCoord()

◆ get_artVel()

◆ get_cMo() [1/2]

◆ get_cMo() [2/2]

◆ get_cMo_History()

◆ get_displayBusy()

◆ get_eJe()

◆ get_fJe()

◆ get_fMi()

◆ get_fMo()

◆ get_fMo_History()

◆ get_velocity()

◆ getDisplacement()

◆ getExternalCameraParameters() [1/3]

◆ getExternalCameraParameters() [2/3]

◆ getExternalCameraParameters() [3/3]

◆ getExternalCameraPosition()

◆ getExternalImage() [1/4]

◆ getExternalImage() [2/4]

◆ getExternalImage() [3/4]

◆ getExternalImage() [4/4]

◆ getInternalCameraParameters() [1/2]

◆ getInternalCameraParameters() [2/2]

◆ getInternalImage() [1/2]

◆ getInternalImage() [2/2]

◆ getInternalView() [1/2]

◆ getInternalView() [2/2]

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getNDof()

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getRobotFrame()

◆ getRobotState()

◆ getSamplingTime()

◆ init()

◆ initArms()

◆ initDisplay()

◆ initScene() [1/8]

◆ initScene() [2/8]

◆ initScene() [3/8]

◆ initScene() [4/8]

◆ initScene() [5/8]

◆ initScene() [6/8]

◆ initScene() [7/8]

◆ initScene() [8/8]

◆ isInJointLimit()

◆ launcher()

◆ navigation() [1/2]

◆ navigation() [2/2]

◆ projectCameraTrajectory() [1/4]

◆ projectCameraTrajectory() [2/4]

◆ projectCameraTrajectory() [3/4]