Visual Servoing Platform  version 3.0.0
vpRobotTemplate.cpp
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Defines a robot just to show which function you must implement.
32  *
33  * Authors:
34  * Eric Marchand
35  *
36  *****************************************************************************/
37 
38 
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/robot/vpRobotTemplate.h>
46 #include <visp3/core/vpDebug.h>
47 
50 {
51  vpTRACE(" Get the joint limits " ) ;
52  std::cout << "Not implemented ! " << std::endl;
53 }
54 
57 {
58  init() ;
59 }
60 
61 
64 {
65  std::cout << "Not implemented ! " << std::endl;
66 }
67 
68 /*
69 
70 AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED
71 
72 get_eJe
73 get_fJe
74 
75 */
76 
78 void
80 {
81  std::cout << "Not implemented ! " << std::endl;
82 }
83 
85 void
87 {
88  std::cout << "Not implemented ! " << std::endl;
89 }
90 
91 
92 /*
93 
94 AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED
95 
96 sendCameraVelocity
97 sendArticularVelocity
98 
99 
100 */
103 {
104  std::cout << "Not implemented ! " << std::endl;
105  std::cout << "To implement me you need : " << std::endl ;
106  std::cout << "\t to known the robot jacobian expressed in " ;
107  std::cout << "the end-effector frame (eJe) " <<std::endl ;
108  std::cout << "\t the frame transformation between camera frame " ;
109  std::cout << "and end-effector frame (cMe)" << std::endl ;
110 }
111 
113 void
115 {
116  std::cout << "Not implemented ! " << std::endl;
117 }
119 void
121  const vpColVector &/* vel */)
122 {
123  std::cout << "Not implemented ! " << std::endl;
124 }
125 
126 
127 /*
128 
129 THESE FUNCTIONS ARE NOT MENDATORY BUT ARE USUALLY USEFUL
130 
131 */
132 
134 void
136 {
137  std::cout << "Not implemented ! " << std::endl;
138 }
140 void
142 {
143  std::cout << "Not implemented ! " << std::endl;
144 }
146 void
148  vpColVector &/* q */)
149 {
150  std::cout << "Not implemented ! " << std::endl;
151 }
153 void
155  const vpColVector &/* q */)
156 {
157  std::cout << "Not implemented ! " << std::endl;
158 }
160 void
162  vpColVector &/* q */)
163 {
164  std::cout << "Not implemented ! " << std::endl;
165 }
166 
167 
168 /*
169  * Local variables:
170  * c-basic-offset: 2
171  * End:
172  */
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:92
void sendCameraVelocity(const vpColVector &v)
send to the controller a velocity expressed in the camera frame
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:76
void init()
basic initialization
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)
set a displacement (frame as to be specified)
#define vpTRACE
Definition: vpDebug.h:414
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
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
void sendArticularVelocity(const vpColVector &qdot)
send to the controller a velocity expressed in the articular frame
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:93
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)