42 #ifndef vpSimulatorAfma6_HH
43 #define vpSimulatorAfma6_HH
50 #include <visp/vpRobotSimulator.h>
51 #include <visp/vpAfma6.h>
55 #if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
184 bool first_time_getdis;
186 double positioningVelocity;
204 const unsigned int &image_width,
205 const unsigned int &image_height);
240 static bool readPosFile(
const char *filename,
vpColVector &q);
241 static bool savePosFile(
const char *filename,
const vpColVector &q);
242 void move(
const char *filename) ;
268 WaitForSingleObject(mutex_fMi,INFINITE);
269 for (
int i = 0; i < 8; i++)
271 ReleaseMutex(mutex_fMi);
272 #elif defined(VISP_HAVE_PTHREAD)
273 pthread_mutex_lock (&mutex_fMi);
274 for (
int i = 0; i < 8; i++)
276 pthread_mutex_unlock (&mutex_fMi);
Modelisation of Irisa's gantry robot named Afma6.
Definition of the vpMatrix class.
virtual void getCameraDisplacement(vpColVector &v)=0
Perspective projection without distortion model.
virtual void updateArticularPosition()=0
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void get_cVe(vpVelocityTwistMatrix &cVe)
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
virtual void computeArticularVelocity()=0
virtual void getArticularDisplacement(vpColVector &qdot)=0
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
static const double defaultPositioningVelocity
void setPositioningVelocity(const double velocity)
virtual void initArms()=0
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void get_cMe(vpHomogeneousMatrix &cMe)
This class aims to be a basis used to create all the simulators of robots.
void get_eJe(const vpColVector &q, vpMatrix &eJe)
vpCameraParametersProjType
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Generic class defining intrinsic camera parameters.
Simulator of Irisa's gantry robot named Afma6.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
virtual void setVelocity(const vpRobot::vpControlFrameType, const vpColVector &)=0
virtual int isInJointLimit()=0
double getPositioningVelocity(void)
Class that provides a data structure for the column vectors as well as a set of operations on these v...
The pose is a complete representation of every rigid motion in the euclidian space.
void get_fJe(const vpColVector &q, vpMatrix &fJe)
void get_fMi(vpHomogeneousMatrix *fMit)
void getExternalImage(vpImage< vpRGBa > &I)
virtual void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0