38 #ifndef vpRobotAfma6_h
39 #define vpRobotAfma6_h
41 #include <visp3/core/vpConfig.h>
43 #ifdef VISP_HAVE_AFMA6
48 #include <visp3/robot/vpRobot.h>
49 #include <visp3/core/vpColVector.h>
50 #include <visp3/core/vpPoseVector.h>
51 #include <visp3/core/vpDebug.h>
52 #include <visp3/robot/vpAfma6.h>
56 # include "irisa_Afma6.h"
57 # include "trycatch.h"
234 static bool robotAlreadyCreated;
236 double positioningVelocity;
241 double time_prev_getvel;
242 bool first_time_getvel;
247 bool first_time_getdis;
267 void closeGripper() ;
281 double getPositioningVelocity (
void);
282 bool getPowerState();
283 double getTime()
const;
303 void move(
const char *filename) ;
304 void move(
const char *filename,
const double velocity) ;
311 static bool readPosFile(
const char *filename,
vpColVector &q) ;
312 static bool savePosFile(
const char *filename,
const vpColVector &q) ;
320 const double pos1,
const double pos2,
const double pos3,
321 const double pos4,
const double pos5,
const double pos6) ;
323 void setPositioningVelocity (
const double velocity);
338 void getArticularDisplacement(
vpColVector &displacement);
339 void getCameraDisplacement(
vpColVector &displacement);
Modelisation of Irisa's gantry robot named Afma6.
Implementation of a matrix and operations on matrices.
void get_cVe(vpVelocityTwistMatrix &cVe) const
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
Perspective projection without distortion model.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
class that defines a generic virtual robot
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Control of Irisa's gantry robot named Afma6.
vpCameraParametersProjType
void get_cMe(vpHomogeneousMatrix &cMe) const
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Implementation of a velocity twist matrix and operations on such kind of matrices.
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.
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...
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
static const double defaultPositioningVelocity