49 #include <visp/vpHomogeneousMatrix.h>
50 #include <visp/vpSimulatorPioneer.h>
51 #include <visp/vpRobotException.h>
52 #include <visp/vpDebug.h>
53 #include <visp/vpExponentialMap.h>
72 void vpSimulatorPioneer::init()
140 "Bad dimension of the control vector");
164 "functionality not implemented");
166 "Cannot set a velocity in the camera frame:"
167 "functionality not implemented");
170 vpERROR_TRACE (
"Cannot set a velocity in the reference frame: "
171 "functionality not implemented");
173 "Cannot set a velocity in the articular frame:"
174 "functionality not implemented");
177 "functionality not implemented");
179 "Cannot set a velocity in the mixt frame:"
180 "functionality not implemented");
224 std::cout <<
"ARTICULAR_FRAME is not implemented in vpSimulatorPioneer::getPosition()" << std::endl;
234 for (
unsigned int i=0; i < 3; i++) {
235 q[i] = this->
wMc_[i][3];
242 std::cout <<
"MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
Definition of the vpMatrix class.
Error that can be emited by the vpRobot class and its derivates.
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
virtual vpRobotStateType getRobotState(void)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
double getMaxTranslationVelocity(void) const
void getPosition(vpHomogeneousMatrix &wMc) const
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.
unsigned int size() const
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Initialize the velocity controller.
void extract(vpRotationMatrix &R) const
virtual ~vpSimulatorPioneer()
int areJointLimitsAvailable
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Construction from translation vector and rotation matrix.
int nDof
number of degrees of freedom
Class that provides a data structure for the column vectors as well as a set of operations on these v...
vpHomogeneousMatrix inverse() const
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
void buildFrom(const double phi, const double theta, const double psi)
Class that consider the case of a translation vector.
void resize(const unsigned int i, const bool flagNullify=true)