42 #ifndef vpSimulatorViper850_HH
43 #define vpSimulatorViper850_HH
52 #include <visp/vpRobotSimulator.h>
53 #include <visp/vpViper850.h>
55 #if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
209 bool first_time_getdis;
211 double positioningVelocity;
229 const unsigned int &image_width,
230 const unsigned int &image_height);
264 static bool readPosFile(
const char *filename,
vpColVector &q);
265 static bool savePosFile(
const char *filename,
const vpColVector &q);
266 void move(
const char *filename) ;
292 WaitForSingleObject(mutex_fMi,INFINITE);
293 for (
int i = 0; i < 8; i++)
295 ReleaseMutex(mutex_fMi);
296 #elif defined(VISP_HAVE_PTHREAD)
297 pthread_mutex_lock (&mutex_fMi);
298 for (
int i = 0; i < 8; i++)
300 pthread_mutex_unlock (&mutex_fMi);
Definition of the vpMatrix class.
virtual void get_eJe(vpMatrix &_eJe)=0
virtual void getCameraDisplacement(vpColVector &v)=0
void get_fMi(vpHomogeneousMatrix *fMit)
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...
virtual void computeArticularVelocity()=0
virtual void getArticularDisplacement(vpColVector &qdot)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
virtual void initArms()=0
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void get_fJe(vpMatrix &_fJe)=0
This class aims to be a basis used to create all the simulators of robots.
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.
Generic class defining intrinsic camera parameters.
Modelisation of the ADEPT Viper 850 robot.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
Simulator of Irisa's Viper S850 robot named Viper850.
virtual void setVelocity(const vpRobot::vpControlFrameType, const vpColVector &)=0
virtual int isInJointLimit()=0
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
The pose is a complete representation of every rigid motion in the euclidian space.
void setPositioningVelocity(const double velocity)
void get_cMe(vpHomogeneousMatrix &cMe)
void get_cVe(vpVelocityTwistMatrix &cVe)
void getExternalImage(vpImage< vpRGBa > &I)
static const double defaultPositioningVelocity
double getPositioningVelocity(void)
virtual void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0