48 #include <visp/vpHomogeneousMatrix.h>
49 #include <visp/vpRobotCamera.h>
50 #include <visp/vpRobotException.h>
51 #include <visp/vpDebug.h>
52 #include <visp/vpExponentialMap.h>
86 void vpRobotCamera::init()
182 for (
unsigned int i=0; i<3; i++)
184 for (
unsigned int i=3; i<6; i++)
193 vpERROR_TRACE (
"Cannot set a velocity in the reference frame: "
194 "functionality not implemented");
196 "Cannot set a velocity in the reference frame:"
197 "functionality not implemented");
201 "functionality not implemented");
203 "Cannot set a velocity in the mixt frame:"
204 "functionality not implemented");
258 for (
unsigned int i=0; i < 3; i++) {
259 q[i] = this->
cMw_[i][3];
266 std::cout <<
"MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
Definition of the vpMatrix class.
void resize(const unsigned int nrows, const unsigned int ncols, const bool nullify=true)
Error that can be emited by the vpRobot class and its derivates.
void setMaxTranslationVelocity(const double maxVt)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
void setPosition(const vpHomogeneousMatrix &cMw)
virtual vpRobotStateType getRobotState(void)
double getMaxTranslationVelocity(void) const
Initialize the position controller.
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
double getMaxRotationVelocity(void) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
The vpRotationMatrix considers the particular case of a rotation matrix.
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
void get_cVe(vpVelocityTwistMatrix &cVe)
void setIdentity(const double &val=1.0)
Initialize the velocity controller.
void extract(vpRotationMatrix &R) const
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
int areJointLimitsAvailable
static double rad(double deg)
void setMaxRotationVelocity(const double maxVr)
int nDof
number of degrees of freedom
void getPosition(vpHomogeneousMatrix &cMw) const
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void get_eJe(vpMatrix &eJe)
vpHomogeneousMatrix inverse() const
static vpHomogeneousMatrix direct(const vpColVector &v)
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
void buildFrom(const double phi, const double theta, const double psi)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v)
void resize(const unsigned int i, const bool flagNullify=true)