vpRobotTemplate.cpp

/****************************************************************************
 *
 * $Id: vpRobotTemplate.cpp 4574 2014-01-09 08:48:51Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Defines a robot just to show which function you must implement.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRobotTemplate.h>
#include <visp/vpDebug.h>

void vpRobotTemplate::init()
{
  vpTRACE(" Get the joint limits " ) ;
  std::cout << "Not implemented ! " << std::endl;
}

vpRobotTemplate::vpRobotTemplate()
{
  init() ;
}


vpRobotTemplate::~vpRobotTemplate()
{
  std::cout << "Not implemented ! " << std::endl;
}

/*

AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED

get_eJe
get_fJe

*/

void
vpRobotTemplate::get_eJe(vpMatrix &/* _eJe */)
{
  std::cout << "Not implemented ! " << std::endl;
}

void
vpRobotTemplate::get_fJe(vpMatrix &/* _fJe */)
{
  std::cout << "Not implemented ! " << std::endl;
}


/*

AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED

sendCameraVelocity
sendArticularVelocity


*/
void vpRobotTemplate::sendCameraVelocity(const vpColVector &/* v */)
{
  std::cout << "Not implemented ! " << std::endl;
  std::cout << "To implement me you need : " << std::endl ;
  std::cout << "\t to known the robot jacobian expressed in " ;
  std::cout << "the end-effector frame (eJe) " <<std::endl ;
  std::cout << "\t the frame transformation  between camera frame " ;
  std::cout << "and end-effector frame (cMe)" << std::endl ;
}

void
vpRobotTemplate::sendArticularVelocity(const vpColVector &/* qdot */)
{
  std::cout << "Not implemented ! " << std::endl;
}
void
vpRobotTemplate::setVelocity(const vpRobot::vpControlFrameType /* frame */,
                             const vpColVector &/* vel */)
{
  std::cout << "Not implemented ! " << std::endl;
}


/*

THESE FUNCTIONS ARE NOT MENDATORY BUT ARE USUALLY USEFUL

*/

void
vpRobotTemplate::getPosition(vpPoseVector &/* q */)
{
  std::cout << "Not implemented ! " << std::endl;
}
void
vpRobotTemplate::getArticularPosition(vpColVector &/* q */)
{
  std::cout << "Not implemented ! " << std::endl;
}
void
vpRobotTemplate::getPosition( const vpRobot::vpControlFrameType/*frame*/,
                              vpColVector &/* q */)
{
  std::cout << "Not implemented ! " << std::endl;
}
void
vpRobotTemplate::setPosition( const vpRobot::vpControlFrameType/*frame*/,
                              const vpColVector &/* q */)
{
  std::cout << "Not implemented ! " << std::endl;
}
void
vpRobotTemplate::getDisplacement(const vpRobot::vpControlFrameType /* frame */,
                                 vpColVector &/* q */)
{
  std::cout << "Not implemented ! " << std::endl;
}


/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */