ViSP
2.7.0
|
#include <vpRobotWireFrameSimulator.h>
Public Types | |
enum | vpDisplayRobotType { MODEL_3D, MODEL_DH } |
enum | vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL } |
enum | vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, CAMERA_FRAME, MIXT_FRAME } |
Static Public Member Functions | |
static vpColVector | saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false) |
Public Attributes | |
vpImage< vpRGBa > | I |
Protected Types | |
enum | vpSceneObject { THREE_PTS, CUBE, PLATE, SMALL_PLATE, RECTANGLE, SQUARE_10CM, DIAMOND, TRAPEZOID, THREE_LINES, ROAD, TIRE, PIPE, CIRCLE, SPHERE, CYLINDER, PLAN, POINT_CLOUD } |
enum | vpSceneDesiredObject { D_STANDARD, D_CIRCLE, D_TOOL } |
enum | vpCameraTrajectoryDisplayType { CT_LINE, CT_POINT } |
Static Protected Member Functions | |
static DWORD WINAPI | launcher (LPVOID lpParam) |
Static Protected Attributes | |
static const double | maxTranslationVelocityDefault = 0.2 |
static const double | maxRotationVelocityDefault = 0.7 |
This class aims to be a basis used to create all the simulators of robots.
Thus in this class you will find all the parameters and methods which are necessary to create a simulator. Several methods are pure virtual. In this case it means that they are specific to the each robot, for example the computation of the geometrical model.
Definition at line 89 of file vpRobotWireFrameSimulator.h.
|
inherited |
Enumerator | |
---|---|
CT_LINE | |
CT_POINT |
Definition at line 227 of file vpWireFrameSimulator.h.
|
inherited |
Robot control frames.
Enumerator | |
---|---|
MODEL_3D | |
MODEL_DH |
Definition at line 94 of file vpRobotWireFrameSimulator.h.
|
inherited |
|
inherited |
Type of scene used to display the object at the desired pose (in the internal view).
Enumerator | |
---|---|
D_STANDARD | |
D_CIRCLE | |
D_TOOL |
Definition at line 220 of file vpWireFrameSimulator.h.
|
inherited |
Type of scene used to display the object at the current position.
Enumerator | |
---|---|
THREE_PTS | |
CUBE | |
PLATE | |
SMALL_PLATE | |
RECTANGLE | |
SQUARE_10CM | |
DIAMOND | |
TRAPEZOID | |
THREE_LINES | |
ROAD | |
TIRE | |
PIPE | |
CIRCLE | |
SPHERE | |
CYLINDER | |
PLAN | |
POINT_CLOUD |
Definition at line 193 of file vpWireFrameSimulator.h.
vpRobotWireFrameSimulator::vpRobotWireFrameSimulator | ( | ) |
Basic constructor
Definition at line 53 of file vpRobotWireFrameSimulator.cpp.
References constantSamplingTimeMode, display, displayAllowed, displayBusy, displayType, I, vpDisplayX::init(), jointLimit, MODEL_3D, vpColVector::resize(), vpImage< Type >::resize(), robotArms, robotStop, setSamplingTime(), setVelocityCalled, singularityManagement, and velocity.
vpRobotWireFrameSimulator::vpRobotWireFrameSimulator | ( | bool | display | ) |
Definition at line 78 of file vpRobotWireFrameSimulator.cpp.
References constantSamplingTimeMode, display, displayAllowed, displayBusy, displayType, I, vpDisplayX::init(), jointLimit, MODEL_3D, vpColVector::resize(), vpImage< Type >::resize(), robotArms, robotStop, setSamplingTime(), setVelocityCalled, singularityManagement, and velocity.
|
virtual |
Basic destructor
Definition at line 109 of file vpRobotWireFrameSimulator.cpp.
|
protectedpure virtual |
Compute the articular velocity relative to the velocity in another frame.
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
|
inlineinherited |
Delete the history of the main camera position which are displayed in the external views.
Definition at line 301 of file vpWireFrameSimulator.h.
|
protectedinherited |
Definition at line 408 of file vpWireFrameSimulator.cpp.
References vpDisplay::displayLine(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().
|
protectedinherited |
Definition at line 457 of file vpWireFrameSimulator.cpp.
References vpDisplay::displayLine(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().
|
inherited |
Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world refrence frame. The trajectory is projected into the view of an external camera whose position is given in parameter.
The two lists must have the same size of homogeneous matrices must have the same size.
I | : The image where the trajectory is displayed. |
list_cMo | : The homogeneous matrices list containing the position of the camera relative to the object. |
list_fMo | : The homogeneous matrices list containing the position of the object relative to the world reference frame. |
cMf | : A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world refrence frame. |
Definition at line 1687 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), and vpWireFrameSimulator::rotz.
|
inherited |
Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world refrence frame. The trajectory is projected into the view of an external camera whose position is given in parameter.
The two lists must have the same size of homogeneous matrices must have the same size.
I | : The image where the trajectory is displayed. |
list_cMo | : The homogeneous matrices list containing the position of the camera relative to the object. |
list_fMo | : The homogeneous matrices list containing the position of the object relative to the world reference frame. |
cMf | : A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world refrence frame. |
Definition at line 1727 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), and vpWireFrameSimulator::rotz.
|
inherited |
Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world refrence frame. The trajectory is projected into the view of an external camera whose position is given in parameter.
The two lists must have the same size of homogeneous matrices must have the same size.
I | : The image where the trajectory is displayed. |
list_cMo | : The homogeneous matrices list containing the position of the camera relative to the object. |
list_fMo | : The homogeneous matrices list containing the position of the object relative to the world reference frame. |
cMf | : A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world refrence frame. |
Definition at line 1605 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpList< type >::front(), vpList< type >::nbElements(), vpList< type >::next(), vpList< type >::outside(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpList< type >::value().
|
inherited |
Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world refrence frame. The trajectory is projected into the view of an external camera whose position is given in parameter.
The two lists must have the same size of homogeneous matrices must have the same size.
I | : The image where the trajectory is displayed. |
list_cMo | : The homogeneous matrices list containing the position of the camera relative to the object. |
list_fMo | : The homogeneous matrices list containing the position of the object relative to the world reference frame. |
cMf | : A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world refrence frame. |
Definition at line 1647 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpList< type >::front(), vpList< type >::nbElements(), vpList< type >::next(), vpList< type >::outside(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpList< type >::value().
|
inlineprotected |
Definition at line 344 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::get_eJe(), vpSimulatorViper850::get_eJe(), vpSimulatorAfma6::get_fJe(), vpSimulatorViper850::get_fJe(), vpSimulatorAfma6::getDisplacement(), vpSimulatorViper850::getDisplacement(), vpSimulatorAfma6::getPosition(), vpSimulatorViper850::getPosition(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::isInJointLimit(), vpSimulatorViper850::isInJointLimit(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
inlineprotected |
Definition at line 355 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
vpHomogeneousMatrix vpRobotWireFrameSimulator::get_cMo | ( | ) |
Get the pose between the object and the robot's camera.
Definition at line 354 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::fMo, get_fMi(), vpHomogeneousMatrix::inverse(), and size_fMi.
Referenced by vpSimulatorAfma6::setPosition().
|
inlineinherited |
Get the pose between the object and the camera.
Definition at line 406 of file vpWireFrameSimulator.h.
|
inlineinherited |
Get the homogeneous matrices cMo stored to display the camera trajectory.
cMo_history | : The list of the homogeneous matrices cMo. |
Definition at line 413 of file vpWireFrameSimulator.h.
|
inlineinherited |
Definition at line 587 of file vpWireFrameSimulator.h.
References vpList< type >::addRight().
|
inlineprotected |
Definition at line 379 of file vpRobotWireFrameSimulator.h.
Referenced by getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
pure virtualinherited |
Get the robot Jacobian expressed in the end-effector frame.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotPtu46, vpRobotPioneer, and vpRobotTemplate.
|
pure virtualinherited |
Get the robot Jacobian expressed in the robot reference (or world) frame.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.
|
protectedpure virtual |
Get a table of poses between the reference frame and the frames you used to compute the Denavit-Hartenberg representation
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
Referenced by get_cMo(), and getInternalView().
|
inline |
Get the pose between the object and the fixed world frame.
Definition at line 217 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::fMo.
|
inlineinherited |
Get the homogeneous matrices fMo stored to display the camera trajectory.
fMo_history | : The list of the homogeneous matrices fMo. |
Definition at line 432 of file vpWireFrameSimulator.h.
|
inlineinherited |
Definition at line 602 of file vpWireFrameSimulator.h.
References vpList< type >::addRight().
|
inlineprotected |
Definition at line 365 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().
|
pure virtualinherited |
Get a displacement (frame as to ve specified) between two successive position control.
Implemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.
|
inline |
Get the parameters of the virtual external camera.
Definition at line 186 of file vpRobotWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
|
inlineinherited |
Get the parameters of the virtual external camera.
I | : The image used to display the view of the camera. |
Definition at line 316 of file vpWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
Referenced by vpWireFrameSimulator::projectCameraTrajectory().
|
inlineinherited |
Get the parameters of the virtual external camera.
I | : The image used to display the view of the camera. |
Definition at line 335 of file vpWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
|
inline |
Get the external camera's position relative to the the world reference frame.
Definition at line 203 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::getExternalCameraPosition().
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
inherited |
Get the external view. It corresponds to the view of the scene from a reference frame you have to set.
I | : The image where the external view is displayed. |
Definition at line 1395 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camColor, vpWireFrameSimulator::camera, vpWireFrameSimulator::cameraTrajectory, vpWireFrameSimulator::camMf, vpWireFrameSimulator::camMf2, vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::cMo, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpWireFrameSimulator::CUBE, vpWireFrameSimulator::curColor, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayCameraTrajectory, vpWireFrameSimulator::displayImageSimulator, vpDisplay::displayLine(), vpWireFrameSimulator::displayObject, vpDisplay::displayPoint(), vpWireFrameSimulator::extCamChanged, vpWireFrameSimulator::f2Mf, vpWireFrameSimulator::fMc, vpWireFrameSimulator::fMo, vpWireFrameSimulator::fMoList, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::navigation(), vpWireFrameSimulator::nbrPtLimit, vpWireFrameSimulator::objectImage, vpWireFrameSimulator::poseList, vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::px_ext, vpWireFrameSimulator::py_ext, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpImageSimulator::setCameraPosition(), and vpWireFrameSimulator::SPHERE.
|
inherited |
Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.
I | : The image where the external view is displayed. |
camMf | : The pose between the point of view and the fixed world frame. |
Definition at line 1536 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camColor, vpWireFrameSimulator::camera, vpWireFrameSimulator::camMf, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::objectImage, vpWireFrameSimulator::px_ext, vpWireFrameSimulator::py_ext, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, and vpImageSimulator::setCameraPosition().
Get the external view. It corresponds to the view of the scene from a reference frame you have to set.
I | : The image where the external view is displayed. |
Definition at line 1110 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camColor, vpWireFrameSimulator::camera, vpWireFrameSimulator::cameraTrajectory, vpWireFrameSimulator::camMf, vpWireFrameSimulator::camMf2, vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::cMo, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpWireFrameSimulator::CUBE, vpWireFrameSimulator::curColor, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayCameraTrajectory, vpWireFrameSimulator::displayImageSimulator, vpDisplay::displayLine(), vpWireFrameSimulator::displayObject, vpDisplay::displayPoint(), vpWireFrameSimulator::extCamChanged, vpWireFrameSimulator::f2Mf, vpWireFrameSimulator::fMc, vpWireFrameSimulator::fMo, vpWireFrameSimulator::fMoList, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::navigation(), vpWireFrameSimulator::nbrPtLimit, vpWireFrameSimulator::objectImage, vpWireFrameSimulator::poseList, vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::px_ext, vpWireFrameSimulator::py_ext, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpImageSimulator::setCameraPosition(), and vpWireFrameSimulator::SPHERE.
|
inherited |
Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.
I | : The image where the external view is displayed. |
camMf | : The pose between the point of view and the fixed world frame. |
Definition at line 1253 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camColor, vpWireFrameSimulator::camera, vpWireFrameSimulator::camMf, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::objectImage, vpWireFrameSimulator::px_ext, vpWireFrameSimulator::py_ext, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, and vpImageSimulator::setCameraPosition().
|
inlineinherited |
Get the parameters of the virtual internal camera.
I | : The image used to display the view of the camera. |
Definition at line 366 of file vpWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::getInternalImage().
|
inlineinherited |
Get the parameters of the virtual internal camera.
I | : The image used to display the view of the camera. |
Definition at line 385 of file vpWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
|
inherited |
Get the internal view ie the view of the camera.
I | : The image where the internal view is displayed. |
Definition at line 1317 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camMf, vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpSimulatorException::notInitializedError, vpWireFrameSimulator::objectImage, vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, and vpImageSimulator::setCameraPosition().
Get the internal view ie the view of the camera.
I | : The image where the internal view is displayed. |
Definition at line 1032 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpSimulatorException::notInitializedError, vpWireFrameSimulator::objectImage, vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, and vpImageSimulator::setCameraPosition().
Get the view of the camera's robot.
According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.
I | : The image where the internal view is displayed. |
Definition at line 210 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, get_displayBusy(), get_fMi(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, set_displayBusy(), size_fMi, and vpTime::wait().
Referenced by vpSimulatorAfma6::setPosition().
void vpRobotWireFrameSimulator::getInternalView | ( | vpImage< unsigned char > & | I | ) |
Get the view of the camera's robot.
According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.
I | : The image where the internal view is displayed. |
Definition at line 283 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, get_displayBusy(), get_fMi(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, set_displayBusy(), size_fMi, and vpTime::wait().
|
inherited |
Get the maximal rotation velocity that can be sent to the robot during a velocity control.
Definition at line 228 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
|
inherited |
Get the maximal translation velocity that can be sent to the robot during a velocity control.
Definition at line 203 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
|
pure virtualinherited |
Get the robot position (frame has to be specified).
Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotPtu46, and vpRobotTemplate.
|
inherited |
Return the current robot position in the specified frame.
Definition at line 171 of file vpRobot.cpp.
|
inlineprotectedinherited |
Definition at line 159 of file vpRobot.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().
|
inlinevirtualinherited |
Definition at line 139 of file vpRobot.h.
Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpRobotPtu46::setPosition(), vpRobotBiclops::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().
|
inlineinherited |
Return the sampling time.
Definition at line 83 of file vpRobotSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
inlineprotectedvirtual |
Implements vpRobot.
Reimplemented in vpSimulatorViper850, and vpSimulatorAfma6.
Definition at line 331 of file vpRobotWireFrameSimulator.h.
|
protectedpure virtual |
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
|
inlineprotected |
Definition at line 340 of file vpRobotWireFrameSimulator.h.
void vpRobotWireFrameSimulator::initScene | ( | vpSceneObject | obj, |
vpSceneDesiredObject | desiredObject | ||
) |
Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
obj | : Type of scene used to display the object at the current position. |
desiredObject | : Type of scene used to display the object at the desired pose (in the internal view). |
Definition at line 123 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().
void vpRobotWireFrameSimulator::initScene | ( | const char * | obj, |
const char * | desiredObject | ||
) |
Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file. It is also possible to use a vrml (.wrl) file.
obj | : Path to the scene file you want to use. |
desiredObject | : Path to the scene file you want to use. |
Definition at line 146 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().
void vpRobotWireFrameSimulator::initScene | ( | vpSceneObject | obj | ) |
Initialize the display. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.
It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
obj | : Type of scene used to display the object at the current position. |
Definition at line 167 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().
void vpRobotWireFrameSimulator::initScene | ( | const char * | obj | ) |
Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.
Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file, or the vrml file.
obj | : Path to the scene file you want to use. |
Definition at line 188 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
obj | : Type of scene used to display the object at the current position. |
desiredObject | : Type of scene used to display the object at the desired pose (in the internal view). |
Definition at line 610 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::cameraFactor, vpWireFrameSimulator::CIRCLE, vpWireFrameSimulator::CUBE, vpWireFrameSimulator::CYLINDER, vpWireFrameSimulator::D_CIRCLE, vpWireFrameSimulator::D_STANDARD, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpWireFrameSimulator::DIAMOND, vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::PIPE, vpWireFrameSimulator::PLAN, vpWireFrameSimulator::PLATE, vpWireFrameSimulator::POINT_CLOUD, vpWireFrameSimulator::RECTANGLE, vpWireFrameSimulator::ROAD, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, vpWireFrameSimulator::SMALL_PLATE, vpWireFrameSimulator::SPHERE, vpWireFrameSimulator::SQUARE_10CM, vpWireFrameSimulator::THREE_LINES, vpWireFrameSimulator::THREE_PTS, vpWireFrameSimulator::TIRE, and vpWireFrameSimulator::TRAPEZOID.
Referenced by initScene(), and vpWireFrameSimulator::initScene().
|
inherited |
Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.
It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
obj | : Type of scene used to display the object at the current position. |
Definition at line 845 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::CIRCLE, vpWireFrameSimulator::CUBE, vpWireFrameSimulator::CYLINDER, vpWireFrameSimulator::DIAMOND, vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::PIPE, vpWireFrameSimulator::PLAN, vpWireFrameSimulator::PLATE, vpWireFrameSimulator::POINT_CLOUD, vpWireFrameSimulator::RECTANGLE, vpWireFrameSimulator::ROAD, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, vpWireFrameSimulator::SMALL_PLATE, vpWireFrameSimulator::SPHERE, vpWireFrameSimulator::SQUARE_10CM, vpWireFrameSimulator::THREE_LINES, vpWireFrameSimulator::THREE_PTS, vpWireFrameSimulator::TIRE, and vpWireFrameSimulator::TRAPEZOID.
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
obj | : Type of scene used to display the object at the current position. |
desiredObject | : Type of scene used to display the object at the desired pose (in the internal view). |
imObj | : A list of vpImageSimulator instances. |
Definition at line 723 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
obj | : Path to the scene file you want to use. |
desiredObject | : Path to the scene file you want to use. |
imObj | : A list of vpImageSimulator instances. |
Definition at line 829 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.
|
inherited |
Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.
It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
obj | : Type of scene used to display the object at the current position. |
imObj | : A list of vpImageSimulator instances. |
Definition at line 928 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.
Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
obj | : Path to the scene file you want to use. |
imObj | : A list of vpImageSimulator instances. |
Definition at line 1017 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
obj | : Type of scene used to display the object at the current position. |
desiredObject | : Type of scene used to display the object at the desired pose (in the internal view). |
imObj | : A list of vpImageSimulator instances. |
Definition at line 699 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpList< type >::front(), vpWireFrameSimulator::initScene(), vpList< type >::next(), vpWireFrameSimulator::objectImage, vpList< type >::outside(), and vpList< type >::value().
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
obj | : Path to the scene file you want to use. |
desiredObject | : Path to the scene file you want to use. |
imObj | : A list of vpImageSimulator instances. |
Definition at line 805 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpList< type >::front(), vpWireFrameSimulator::initScene(), vpList< type >::next(), vpWireFrameSimulator::objectImage, vpList< type >::outside(), and vpList< type >::value().
|
inherited |
Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.
It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
obj | : Type of scene used to display the object at the current position. |
imObj | : A list of vpImageSimulator instances. |
Definition at line 905 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpList< type >::front(), vpWireFrameSimulator::initScene(), vpList< type >::next(), vpWireFrameSimulator::objectImage, vpList< type >::outside(), and vpList< type >::value().
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.
Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
obj | : Path to the scene file you want to use. |
imObj | : A list of vpImageSimulator instances. |
Definition at line 994 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpList< type >::front(), vpWireFrameSimulator::initScene(), vpList< type >::next(), vpWireFrameSimulator::objectImage, vpList< type >::outside(), and vpList< type >::value().
|
protectedpure virtual |
Method used to check if the robot reached a joint limit.
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
|
inlinestaticprotected |
Function used to launch the thread which moves the robot.
Definition at line 316 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().
|
protectedinherited |
Enables to change the external camera position.
Definition at line 1761 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::blocked, vpWireFrameSimulator::blockedr, vpWireFrameSimulator::blockedt, vpWireFrameSimulator::blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), vpWireFrameSimulator::old_iPr, vpWireFrameSimulator::old_iPt, vpWireFrameSimulator::old_iPz, and vpMath::rad().
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
|
protectedinherited |
Enables to change the external camera position.
Definition at line 1855 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::blocked, vpWireFrameSimulator::blockedr, vpWireFrameSimulator::blockedt, vpWireFrameSimulator::blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), vpWireFrameSimulator::old_iPr, vpWireFrameSimulator::old_iPt, vpWireFrameSimulator::old_iPz, and vpMath::rad().
|
protectedinherited |
Project the center of the internal camera into the external camera view.
Definition at line 1950 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().
Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().
|
protectedinherited |
Project the center of the internal camera into the external camera view.
Definition at line 1968 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().
|
protectedinherited |
Project the center of the internal camera into the external camera view.
Definition at line 1986 of file vpWireFrameSimulator.cpp.
References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().
|
protectedinherited |
Project the center of the internal camera into the external camera view.
Definition at line 2004 of file vpWireFrameSimulator.cpp.
References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().
|
staticinherited |
Saturate velocities.
v_in | : Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s. |
v_max | : Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s. |
verbose | : Print a message indicating which axis causes the saturation. |
vpRobotException::dimensionError | : If the input vectors have different dimensions. |
The code below shows how to use this static method in order to saturate a velocity skew vector.
Definition at line 116 of file vpRobot.cpp.
References vpException::dimensionError, and vpColVector::size().
Referenced by vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
|
inlineprotected |
Definition at line 350 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
inlineprotected |
Definition at line 360 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
inlineprotected |
Definition at line 375 of file vpRobotWireFrameSimulator.h.
Referenced by getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
inline |
Set the pose between the object and the fixed world frame.
fMo | : The pose between the object and the fixed world frame. |
Definition at line 309 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::fMo.
|
inlineprotected |
Definition at line 370 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().
|
inline |
Set the color used to display the camera in the external view.
col | : The desired color. |
Definition at line 230 of file vpRobotWireFrameSimulator.h.
|
inlineinherited |
Set the color used to display the camera in the external view.
col | : The desired color. |
Definition at line 449 of file vpWireFrameSimulator.h.
|
inlineinherited |
Set the position of the camera relative to the object.
cMo | : The pose of the camera. |
Definition at line 455 of file vpWireFrameSimulator.h.
References vpHomogeneousMatrix::inverse().
|
inlineinherited |
Set the position of the the world reference frame relative to the camera.
fMc | : The pose of the camera. |
Definition at line 462 of file vpWireFrameSimulator.h.
References vpHomogeneousMatrix::inverse().
|
inlineinherited |
Set the parameter which enables to choose the size of the main camera in the external camera views. By default this parameter is set to 1.
factor | : The ration for the camera size. |
Definition at line 469 of file vpWireFrameSimulator.h.
|
inlineinherited |
Set the color used to display the camera trajectory in the external view.
col | : The desired color. |
Definition at line 476 of file vpWireFrameSimulator.h.
|
inlineinherited |
Set the way to display the history of the main camera trajectory in the main external view. The choice is given between displaying lines and points.
camTrajType | : The chosen way to display the camera trajectory. |
Definition at line 483 of file vpWireFrameSimulator.h.
|
inline |
Set the flag used to force the sampling time in the thread computing the robot's displacement to a constant value; see setSamplingTime(). It may be useful if the main thread (computing the features) is very time consuming. False by default.
_constantSamplingTimeMode | : The new value of the constantSamplingTimeMode flag. |
Definition at line 240 of file vpRobotWireFrameSimulator.h.
|
inline |
Set the color used to display the object at the current position in the robot's camera view.
col | : The desired color. |
Definition at line 249 of file vpRobotWireFrameSimulator.h.
|
inlineinherited |
Set the color used to display the object at the current position.
col | : The desired color. |
Definition at line 490 of file vpWireFrameSimulator.h.
|
inline |
Set the desired position of the robot's camera relative to the object.
cdMo | : The desired pose of the camera. |
Definition at line 263 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::setDesiredCameraPosition().
|
inlineinherited |
Set the desired position of the camera relative to the object.
cdMo | : The desired pose of the camera. |
Definition at line 496 of file vpWireFrameSimulator.h.
Referenced by setDesiredCameraPosition().
|
inline |
Set the color used to display the object at the desired position in the robot's camera view.
col | : The desired color. |
Definition at line 256 of file vpRobotWireFrameSimulator.h.
|
inlineinherited |
Set the color used to display the object at the desired position.
col | : The desired color. |
Definition at line 502 of file vpWireFrameSimulator.h.
|
inlineinherited |
Enable or disable the displaying of the camera trajectory in the main external camera view.
By default the trajectory is displayed.
displayCameraTrajectory | : Set to true to display the camera trajectory. |
Definition at line 510 of file vpWireFrameSimulator.h.
|
inline |
Set the way to draw the robot. Depending on what you choose you can display a 3D wireframe model or a set of lines linking the frames used to compute the geometrical model.
dispType | : Type of display. Can be MODEL_3D or MODEL_DH. |
Definition at line 273 of file vpRobotWireFrameSimulator.h.
|
inlineinherited |
Set the internal camera parameters.
cam | : The desired camera parameters. |
Definition at line 517 of file vpWireFrameSimulator.h.
References vpCameraParameters::get_px(), and vpCameraParameters::get_py().
Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().
|
inline |
Set the external camera point of view.
camMf | : The pose of the external camera relative to the world reference frame. |
Definition at line 279 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::setExternalCameraPosition().
Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().
|
inlineinherited |
Set the external camera point of view.
camMf | : The pose of the external camera relative to the world reference frame. |
Definition at line 526 of file vpWireFrameSimulator.h.
References vpHomogeneousMatrix::buildFrom(), and vpHomogeneousMatrix::inverse().
Referenced by setExternalCameraPosition().
|
inlineinherited |
Set the internal camera parameters.
cam | : The desired camera parameters. |
Definition at line 541 of file vpWireFrameSimulator.h.
References vpCameraParameters::get_px(), and vpCameraParameters::get_py().
|
inherited |
Set the maximal rotation velocity that can be sent to the robot during a velocity control.
w_max | : Maximum rotation velocity expressed in rad/s. |
Definition at line 215 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition().
|
inherited |
Set the maximal translation velocity that can be sent to the robot during a velocity control.
v_max | : Maximum translation velocity expressed in m/s. |
Definition at line 191 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition().
|
inlineinherited |
Set the maximum number of main camera's positions which are stored. Those position can be displayed in the external camera field of view. By default this parameter is set to 1000.
nbPt | : The desired number of position which are saved. |
Definition at line 551 of file vpWireFrameSimulator.h.
|
pure virtualinherited |
Set a displacement (frame has to be specified) in position control.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.
|
protectedinherited |
Definition at line 161 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().
|
virtualinherited |
Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, and vpRobotPtu46.
Definition at line 154 of file vpRobot.cpp.
Referenced by vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
|
inlinevirtual |
Set the sampling time.
delta_t | : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time. |
Since the wireframe simulator is threaded, the sampling time is set to vpTime::minTimeForUsleepCall / 1000 seconds.
Reimplemented from vpRobotSimulator.
Definition at line 293 of file vpRobotWireFrameSimulator.h.
References vpTime::minTimeForUsleepCall.
Referenced by vpRobotWireFrameSimulator().
|
inline |
Set the parameter which enable or disable the singularity mangement
Definition at line 302 of file vpRobotWireFrameSimulator.h.
|
pure virtualinherited |
Set the velocity (frame has to be specified) that will be applied to the velocity controller.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, vpRobotPioneer, vpSimulatorPioneerPan, vpRobotCamera, vpSimulatorPioneer, vpSimulatorCamera, and vpRobotTemplate.
|
inlineinherited |
Definition at line 155 of file vpRobot.h.
Referenced by vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().
|
protectedpure virtual |
Method lauched by the thread to compute the position of the robot in the articular frame.
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
|
protected |
The articular coordinates
Definition at line 118 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::init(), and vpSimulatorViper850::init().
|
protected |
The articular velocity
Definition at line 120 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::init(), and vpSimulatorViper850::init().
|
protectedinherited |
Definition at line 268 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 265 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 267 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 266 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 249 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 236 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protectedinherited |
Definition at line 283 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protected |
External camera parameters
Definition at line 153 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
protectedinherited |
Definition at line 257 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protectedinherited |
Definition at line 241 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::projectCameraTrajectory().
|
protectedinherited |
Definition at line 270 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
|
protectedinherited |
Definition at line 250 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 285 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 244 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), and getInternalView().
|
protectedinherited |
|
protected |
Flag used to force the sampling time in the thread computing the robot's displacement to a constant value (samplingTime). It may be useful if the main thread (computing the features) is very time consumming. False by default.
Definition at line 171 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().
|
protectedinherited |
Definition at line 251 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 68 of file vpRobotSimulator.h.
Referenced by vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
|
protectedinherited |
Definition at line 252 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 247 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), and vpWireFrameSimulator::initScene().
|
protectedinherited |
Definition at line 235 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protected |
Definition at line 156 of file vpRobotWireFrameSimulator.h.
Referenced by vpRobotWireFrameSimulator().
|
protected |
Definition at line 169 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().
|
protected |
Definition at line 141 of file vpRobotWireFrameSimulator.h.
Referenced by vpRobotWireFrameSimulator().
|
protectedinherited |
Definition at line 280 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protectedinherited |
Definition at line 256 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 279 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protectedinherited |
Definition at line 281 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 278 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protected |
Definition at line 167 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().
|
protectedinherited |
robot Jacobian expressed in the end-effector frame
Definition at line 103 of file vpRobot.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorCamera::get_eJe(), vpRobotCamera::get_eJe(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::setPosition(), and vpRobotAfma4::setVelocity().
|
protectedinherited |
|
protectedinherited |
Definition at line 287 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 271 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
|
protectedinherited |
robot Jacobian expressed in the robot reference frame available
Definition at line 107 of file vpRobot.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::getVelocity(), and vpSimulatorViper850::getVelocity().
|
protectedinherited |
|
protectedinherited |
Definition at line 240 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::getPosition(), vpSimulatorViper850::getPosition(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), and vpSimulatorViper850::setPosition().
|
protected |
Table containing all the homogeneous matrices between the reference frame of the robot and the frames you used to compute the Denavit-Hartenberg representation
If you use a camera at the end of the effector, the last homogeneous matrix has to be the one between the reference frame and the camera frame (fMc)
Definition at line 115 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
|
protectedinherited |
Definition at line 239 of file vpWireFrameSimulator.h.
Referenced by get_cMo(), get_fMo(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), set_fMo(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 259 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protected |
Definition at line 125 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
Definition at line 92 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().
|
protected |
True if one of the joint reach the limit
Definition at line 146 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().
|
protected |
Index of the joint which is in limit
Definition at line 148 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
staticprotectedinherited |
|
staticprotectedinherited |
|
protected |
Definition at line 128 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
|
protected |
Definition at line 127 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
|
protected |
Definition at line 130 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
|
protected |
Definition at line 126 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
|
protected |
Definition at line 129 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
|
protectedinherited |
Definition at line 260 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
|
protectedinherited |
Definition at line 246 of file vpWireFrameSimulator.h.
|
protectedinherited |
Definition at line 237 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 262 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 264 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 263 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 258 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protectedinherited |
Definition at line 275 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 273 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), vpSimulatorViper850::setCameraParameters(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 276 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 274 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), vpSimulatorViper850::setCameraParameters(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 242 of file vpWireFrameSimulator.h.
|
protected |
Contains the 3D model of the robot's arms
Definition at line 108 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpSimulatorAfma6::init(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpRobotWireFrameSimulator(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
|
protected |
True if the robot has to be stopped
Definition at line 144 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
|
protectedinherited |
Definition at line 289 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::projectCameraTrajectory(), and vpWireFrameSimulator::vpWireFrameSimulator().
|
protectedinherited |
Definition at line 234 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protectedinherited |
Definition at line 254 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
|
protected |
Flag used to specify to the thread managing the robot displacements that the setVelocity() method has been called.
Definition at line 174 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().
|
protected |
True if the singularity are automatically managed
Definition at line 150 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), and vpRobotWireFrameSimulator().
|
protected |
Size of the fMi table
Definition at line 111 of file vpRobotWireFrameSimulator.h.
Referenced by get_cMo(), getInternalView(), vpSimulatorAfma6::init(), and vpSimulatorViper850::init().
|
protected |
cpu time at the begining of the robot's movement
Definition at line 103 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().
|
protected |
cpu time at the end of the last robot's movement
Definition at line 105 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
|
protected |
The velocity in the current frame (articular, camera or reference)
Definition at line 122 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::setPositioningVelocity(), vpSimulatorViper850::setPositioningVelocity(), and vpRobotWireFrameSimulator().
|
protectedinherited |
Definition at line 115 of file vpRobot.h.
Referenced by vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpRobot::vpRobot(), vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().