Visual Servoing Platform  version 3.0.0
vpRobotCamera.h
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19  * Inria Rennes - Bretagne Atlantique
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Defines the simplest robot : a free flying camera.
32  *
33  * Authors:
34  * Eric Marchand
35  *
36  *****************************************************************************/
37 
38 
39 #ifndef vpRobotCamera_H
40 #define vpRobotCamera_H
41 
47 #include <visp3/core/vpConfig.h>
48 
49 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
50 
51 #include <visp3/core/vpColVector.h>
52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpMatrix.h>
54 #include <visp3/robot/vpRobotSimulator.h>
55 
110 class VISP_EXPORT vpRobotCamera : public vpRobotSimulator
111 {
112 protected:
113  vpHomogeneousMatrix cMw_; // camera to world
114 
115 public:
116  vpRobotCamera() ;
117  virtual ~vpRobotCamera() ;
118 
119  void get_cVe(vpVelocityTwistMatrix &cVe) const;
120  void get_eJe(vpMatrix &eJe);
121 
122  void getPosition(vpHomogeneousMatrix &cMw) const ;
124 
125  void setPosition(const vpHomogeneousMatrix &cMw) ;
126  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v) ;
127 
128 private:
129  void init() ;
130 
131  // Non implemented virtual pure functions
132  void get_fJe(vpMatrix & /*_fJe */) {};
133  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) {};
134  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) {};
135 } ;
136 
137 #endif
138 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:92
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
Implementation of an homogeneous matrix and operations on such kind of matrices.
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:76
This class aims to be a basis used to create all the robot simulators.
Class that defines the simplest robot: a free flying camera. We recommend to use vpSimulatorCamera in...
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.
Implementation of a velocity twist matrix and operations on such kind of matrices.
Implementation of column vector and the associated operations.
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...
vpHomogeneousMatrix cMw_