ViSP  2.8.0
vpSimulatorCamera.h
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2  *
3  * $Id: vpSimulatorCamera.h 2456 2010-01-07 10:33:12Z nmelchio $
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5  * This file is part of the ViSP software.
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15  * GPL, please contact INRIA about acquiring a ViSP Professional
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20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
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31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Defines the simplest robot : a free flying camera.
36  *
37  * Authors:
38  * Eric Marchand
39  *
40  *****************************************************************************/
41 
42 
43 #ifndef vpSimulatorCamera_H
44 #define vpSimulatorCamera_H
45 
51 #include <visp/vpColVector.h>
52 #include <visp/vpHomogeneousMatrix.h>
53 #include <visp/vpMatrix.h>
54 #include <visp/vpRobot.h>
55 #include <visp/vpRobotSimulator.h>
56 
110 class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
111 {
112 protected:
113  vpHomogeneousMatrix wMc_; // world to camera
114 
115 public:
117  virtual ~vpSimulatorCamera() ;
118 
119 public:
120  void get_cVe(vpVelocityTwistMatrix &cVe);
121  void get_eJe(vpMatrix &eJe);
122 
123  void getPosition(vpHomogeneousMatrix &wMc) const;
125  void setPosition(const vpHomogeneousMatrix &wMc);
126  void setVelocity(const vpRobot::vpControlFrameType frame,
127  const vpColVector &vel) ;
128 
129 private:
130  void init() ;
131 
132  // Non implemented virtual pure functions
133  void get_fJe(vpMatrix & /*_fJe */) {};
134  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) {};
135  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) {};
136 } ;
137 
138 #endif
Definition of the vpMatrix class.
Definition: vpMatrix.h:96
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Class that defines the simplest robot: a free flying camera.
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpControlFrameType
Definition: vpRobot.h:78
vpHomogeneousMatrix wMc_
This class aims to be a basis used to create all the robot simulators.
virtual void init()=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Get the robot Jacobian expressed in the robot reference (or world) frame.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Set the velocity (frame has to be specified) that will be applied to the velocity controller...