42 #ifndef vpRobotViper850_h
43 #define vpRobotViper850_h
45 #include <visp/vpConfig.h>
47 #ifdef VISP_HAVE_VIPER850
52 #include <visp/vpRobot.h>
53 #include <visp/vpColVector.h>
54 #include <visp/vpDebug.h>
55 #include <visp/vpViper850.h>
59 # include "irisa_Viper850.h"
60 # include "trycatch.h"
316 static bool robotAlreadyCreated;
318 double positioningVelocity;
323 double time_prev_getvel;
324 bool first_time_getvel;
329 bool first_time_getdis;
357 const double pos1,
const double pos2,
const double pos3,
358 const double pos4,
const double pos5,
const double pos6) ;
360 void setPositioningVelocity (
const double velocity);
367 double getPositioningVelocity (
void);
380 void biasForceTorqueSensor();
392 bool getPowerState();
394 void move(
const char *filename) ;
395 static bool readPosFile(
const char *filename,
vpColVector &q) ;
396 static bool savePosFile(
const char *filename,
const vpColVector &q) ;
Definition of the vpMatrix class.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
Perspective projection without distortion model.
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Control of Irisa's Viper S850 robot named Viper850.
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
class that defines a generic virtual robot
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void getArticularDisplacement(vpColVector &qdot)=0
Get a displacement expressed in the joint space between two successive position control.
virtual void getCameraDisplacement(vpColVector &v)=0
Get a displacement expressed in the camera frame between two successive position control.
vpCameraParametersProjType
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpToolType
List of possible tools that can be attached to the robot end-effector.
virtual void get_fJe(vpMatrix &_fJe)=0
Get the robot Jacobian expressed in the robot reference (or world) frame.
Modelisation of the ADEPT Viper 850 robot.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
vpControlModeType getControlMode()
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Manual control mode activated when the dead man switch is in use.
static const double defaultPositioningVelocity
The pose is a complete representation of every rigid motion in the euclidian space.
void get_cMe(vpHomogeneousMatrix &cMe)
Automatic control mode (default).
void get_cVe(vpVelocityTwistMatrix &cVe)
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Set the velocity (frame has to be specified) that will be applied to the velocity controller...