vpRobotTemplate.h

/****************************************************************************
 *
 * $Id: vpRobotTemplate.h 4056 2013-01-05 13:04:42Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Defines a robot just to show which function you must implement.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#ifndef vpRobotTemplate_H
#define vpRobotTemplate_H

#include <visp/vpRobot.h>

class VISP_EXPORT vpRobotTemplate : public vpRobot
{

public:

  void init() ;

  vpRobotTemplate() ;
  virtual ~vpRobotTemplate() ;


  void get_eJe(vpMatrix &_eJe) ;
  void get_fJe(vpMatrix &_fJe) ;

  void sendCameraVelocity(const vpColVector &v)   ;
  void sendArticularVelocity(const vpColVector &qdot)  ;
  void setVelocity(const vpRobot::vpControlFrameType frame,
                   const  vpColVector &vel) ;

  void getPosition(vpPoseVector &q) ;
  void getArticularPosition(vpColVector &q) ;
  void getPosition(const vpRobot::vpControlFrameType frame,
                   vpColVector &q) ;
  void setPosition(const vpRobot::vpControlFrameType frame,
                   const vpColVector &q) ;

  void getDisplacement(const vpRobot::vpControlFrameType frame,
                       vpColVector &q) ;
} ;

#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */