34 #ifndef vpSimulatorViper850_HH
35 #define vpSimulatorViper850_HH
42 #include <visp3/robot/vpRobotWireFrameSimulator.h>
43 #if defined(VISP_HAVE_MODULE_GUI) && defined(VISP_HAVE_THREADS)
47 #include <visp3/robot/vpViper850.h>
202 bool first_time_getdis;
204 double positioningVelocity;
217 void getCameraParameters(
vpCameraParameters &cam, const
unsigned int &image_width, const
unsigned int &image_height);
227 double getPositioningVelocity(
void) {
return positioningVelocity; }
245 void move(
const char *filename);
247 static bool readPosFile(
const std::string &filename,
vpColVector &q);
248 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
254 double pos5,
double pos6);
274 for (
int i = 0; i < 8; i++) {
277 m_mutex_fMi.unlock();
279 void init() vp_override;
280 void initArms() vp_override;
282 int isInJointLimit() vp_override;
284 void updateArticularPosition() vp_override;
Generic class defining intrinsic camera parameters.
vpCameraParametersProjType
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Implementation of a matrix and operations on matrices.
Implementation of a pose vector and operations on poses.
This class aims to be a basis used to create all the simulators of robots.
virtual void computeArticularVelocity()=0
Class that defines a generic virtual robot.
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Simulator of Irisa's Viper S850 robot named Viper850.
static const double defaultPositioningVelocity
void setPositioningVelocity(double vel)
Modelization of the ADEPT Viper 850 robot.
vpToolType
List of possible tools that can be attached to the robot end-effector.
void get_cMe(vpHomogeneousMatrix &cMe) const
void get_cVe(vpVelocityTwistMatrix &cVe) const