vpRobotCamera.cpp

/****************************************************************************
 *
 * $Id: vpRobotCamera.cpp 2456 2010-01-07 10:33:12Z nmelchio $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 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 the simplest robot : a free flying camera.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRobotCamera.h>
#include <visp/vpRobotException.h>
#include <visp/vpDebug.h>
#include <visp/vpExponentialMap.h>


vpRobotCamera::vpRobotCamera()
{
  init() ;
}

void vpRobotCamera::init()
{
  eJe.resize(6,6) ;
  eJe.setIdentity() ;
  setSamplingTime(0.040f);
}


vpRobotCamera::~vpRobotCamera()
{
}

/*

AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED

get_eJe
get_fJe

*/

void
vpRobotCamera::get_eJe(vpMatrix &eJe)
{
  eJe = this->eJe ;
}

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


/*

AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED

sendCameraVelocity
sendArticularVelocity


*/

void
vpRobotCamera::setCameraVelocity(const vpColVector &v)
{
  cMo = vpExponentialMap::direct(v, delta_t).inverse()*cMo ;
}

void
vpRobotCamera::setArticularVelocity(const vpColVector &qdot)
{
  cMo = vpExponentialMap::direct(qdot, delta_t).inverse()*cMo ;
}

void
vpRobotCamera::setVelocity(const vpRobot::vpControlFrameType frame,
               const vpColVector &v)
{
  switch (frame)
  {
  case vpRobot::ARTICULAR_FRAME:
    setArticularVelocity(v) ;
    break ;
  case vpRobot::CAMERA_FRAME:
    setCameraVelocity(v) ;
    break ;
  case vpRobot::REFERENCE_FRAME:
    vpERROR_TRACE ("Cannot set a velocity in the reference frame: "
           "functionality not implemented");
    throw vpRobotException (vpRobotException::wrongStateError,
                "Cannot set a velocity in the reference frame:"
                "functionality not implemented");
    break ;
  case vpRobot::MIXT_FRAME:
    vpERROR_TRACE ("Cannot set a velocity in the mixt frame: "
         "functionality not implemented");
    throw vpRobotException (vpRobotException::wrongStateError,
                "Cannot set a velocity in the mixt frame:"
                "functionality not implemented");

    break ;
  }
}


/*

THESE FUNCTIONS ARE NOT MENDATORY BUT ARE USUALLY USEFUL

*/

void
vpRobotCamera::getPosition(vpColVector & /*cpo*/)
{
  std::cout << "Not implemented ! " << std::endl;
  //  cpo.buildFrom(cMo) ;
}

void
vpRobotCamera::getPosition(vpHomogeneousMatrix &cMo) const
{
  cMo = this->cMo ;
}
void
vpRobotCamera::setPosition(const vpHomogeneousMatrix &cMo)
{
   this->cMo = cMo ;
}

void
vpRobotCamera::getArticularPosition(vpColVector &/* q */) const
{
  std::cout << "Not implemented ! " << std::endl;
}

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

void
vpRobotCamera::getCameraDisplacement(vpColVector & /* v */)
{
  std::cout << "Not implemented ! " << std::endl;
}

void
vpRobotCamera::getArticularDisplacement(vpColVector & /* qdot */)
{
  std::cout << "Not implemented ! " << std::endl;
}

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


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