ViSP  2.9.0
vpRobotTemplate.cpp
1 /****************************************************************************
2  *
3  * $Id: vpRobotTemplate.cpp 4574 2014-01-09 08:48:51Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Defines a robot just to show which function you must implement.
36  *
37  * Authors:
38  * Eric Marchand
39  *
40  *****************************************************************************/
41 
42 
48 #include <visp/vpHomogeneousMatrix.h>
49 #include <visp/vpRobotTemplate.h>
50 #include <visp/vpDebug.h>
51 
54 {
55  vpTRACE(" Get the joint limits " ) ;
56  std::cout << "Not implemented ! " << std::endl;
57 }
58 
61 {
62  init() ;
63 }
64 
65 
68 {
69  std::cout << "Not implemented ! " << std::endl;
70 }
71 
72 /*
73 
74 AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED
75 
76 get_eJe
77 get_fJe
78 
79 */
80 
82 void
84 {
85  std::cout << "Not implemented ! " << std::endl;
86 }
87 
89 void
91 {
92  std::cout << "Not implemented ! " << std::endl;
93 }
94 
95 
96 /*
97 
98 AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED
99 
100 sendCameraVelocity
101 sendArticularVelocity
102 
103 
104 */
107 {
108  std::cout << "Not implemented ! " << std::endl;
109  std::cout << "To implement me you need : " << std::endl ;
110  std::cout << "\t to known the robot jacobian expressed in " ;
111  std::cout << "the end-effector frame (eJe) " <<std::endl ;
112  std::cout << "\t the frame transformation between camera frame " ;
113  std::cout << "and end-effector frame (cMe)" << std::endl ;
114 }
115 
117 void
119 {
120  std::cout << "Not implemented ! " << std::endl;
121 }
123 void
125  const vpColVector &/* vel */)
126 {
127  std::cout << "Not implemented ! " << std::endl;
128 }
129 
130 
131 /*
132 
133 THESE FUNCTIONS ARE NOT MENDATORY BUT ARE USUALLY USEFUL
134 
135 */
136 
138 void
140 {
141  std::cout << "Not implemented ! " << std::endl;
142 }
144 void
146 {
147  std::cout << "Not implemented ! " << std::endl;
148 }
150 void
152  vpColVector &/* q */)
153 {
154  std::cout << "Not implemented ! " << std::endl;
155 }
157 void
159  const vpColVector &/* q */)
160 {
161  std::cout << "Not implemented ! " << std::endl;
162 }
164 void
166  vpColVector &/* q */)
167 {
168  std::cout << "Not implemented ! " << std::endl;
169 }
170 
171 
172 /*
173  * Local variables:
174  * c-basic-offset: 2
175  * End:
176  */
Definition of the vpMatrix class.
Definition: vpMatrix.h:98
void sendCameraVelocity(const vpColVector &v)
send to the controller a velocity expressed in the camera frame
#define vpTRACE
Definition: vpDebug.h:418
void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)
get a displacement (frame as to be specified)
virtual ~vpRobotTemplate()
destructor
void get_eJe(vpMatrix &_eJe)
get the robot Jacobian expressed in the end-effector frame
vpControlFrameType
Definition: vpRobot.h:78
void init()
basic initialization
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)
set a displacement (frame as to be specified)
vpRobotTemplate()
constructor
void getPosition(vpPoseVector &q)
get a position expressed in the robot reference frame
void get_fJe(vpMatrix &_fJe)
get the robot Jacobian expressed in the robot reference frame
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Definition: vpColVector.h:72
void sendArticularVelocity(const vpColVector &qdot)
send to the controller a velocity expressed in the articular frame
The pose is a complete representation of every rigid motion in the euclidian space.
Definition: vpPoseVector.h:92
void getArticularPosition(vpColVector &q)
get a position expressed in the articular frame
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
send to the controller a velocity (frame as to be specified)