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vpRobotSimulator.h
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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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.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Basic class used to make robot simulators.
32  *
33  * Authors:
34  * Nicolas Melchior
35  *
36  *****************************************************************************/
37 
38 #ifndef vpRobotSimulator_HH
39 #define vpRobotSimulator_HH
40 
46 #include <visp3/core/vpConfig.h>
47 #include <visp3/robot/vpRobot.h>
48 #include <visp3/core/vpTime.h>
49 #include <visp3/core/vpVelocityTwistMatrix.h>
50 
51 
62 class VISP_EXPORT vpRobotSimulator : public vpRobot
63 {
64 protected:
65  double delta_t_; // sampling time in second
66 
67 public:
72  virtual ~vpRobotSimulator() {};
73 
82  inline double getSamplingTime() const
83  {
84  return(this->delta_t_);
85  }
86 
94  virtual inline void setSamplingTime(const double &delta_t)
95  {
96  this->delta_t_ = delta_t;
97  }
99 };
100 
101 #endif
double getSamplingTime() const
Class that defines a generic virtual robot.
Definition: vpRobot.h:58
virtual void setSamplingTime(const double &delta_t)
This class aims to be a basis used to create all the robot simulators.
virtual ~vpRobotSimulator()