42 #ifndef vpSimulatorViper850_HH
43 #define vpSimulatorViper850_HH
52 #include <visp/vpRobotWireFrameSimulator.h>
53 #include <visp/vpViper850.h>
55 #if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
213 bool first_time_getdis;
215 double positioningVelocity;
229 const unsigned int &image_width,
230 const unsigned int &image_height);
256 void move(
const char *filename) ;
258 static bool readPosFile(
const char *filename,
vpColVector &q);
259 static bool savePosFile(
const char *filename,
const vpColVector &q);
287 WaitForSingleObject(mutex_fMi,INFINITE);
288 for (
int i = 0; i < 8; i++)
290 ReleaseMutex(mutex_fMi);
291 #elif defined(VISP_HAVE_PTHREAD)
292 pthread_mutex_lock (&mutex_fMi);
293 for (
int i = 0; i < 8; i++)
295 pthread_mutex_unlock (&mutex_fMi);
306 void getArticularDisplacement(
vpColVector &displacement);
307 void getCameraDisplacement(
vpColVector &displacement);
Definition of the vpMatrix class.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
void get_fMi(vpHomogeneousMatrix *fMit)
Perspective projection without distortion model.
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
virtual void initArms()=0
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.
virtual int isInJointLimit()=0
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void updateArticularPosition()=0
vpCameraParametersProjType
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpToolType
List of possible tools that can be attached to the robot end-effector.
virtual void computeArticularVelocity()=0
Generic class defining intrinsic camera parameters.
virtual void get_fJe(vpMatrix &_fJe)=0
Get the robot Jacobian expressed in the robot reference (or world) frame.
Modelisation of the ADEPT Viper 850 robot.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
void getExternalImage(vpImage< unsigned char > &I)
This class aims to be a basis used to create all the simulators of robots.
Simulator of Irisa's Viper S850 robot named Viper850.
Class that provides a data structure for the column vectors as well as a set of operations on these v...
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height)
The pose is a complete representation of every rigid motion in the euclidian space.
void setPositioningVelocity(const double velocity)
void get_cMe(vpHomogeneousMatrix &cMe)
void get_cVe(vpVelocityTwistMatrix &cVe)
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...
static const double defaultPositioningVelocity
double getPositioningVelocity(void)