Visual Servoing Platform  version 3.0.1
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
vpSimulatorCamera.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 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 the simplest robot : a free flying camera.
32  *
33  * Authors:
34  * Eric Marchand
35  *
36  *****************************************************************************/
37 
38 
39 #ifndef vpSimulatorCamera_H
40 #define vpSimulatorCamera_H
41 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/robot/vpRobot.h>
51 #include <visp3/robot/vpRobotSimulator.h>
52 
106 class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
107 {
108 protected:
109  vpHomogeneousMatrix wMc_; // world to camera
110 
111 public:
113  virtual ~vpSimulatorCamera() ;
114 
115 public:
118  void get_cVe(vpVelocityTwistMatrix &cVe) const;
119  void get_eJe(vpMatrix &eJe);
120 
122  void getPosition(vpHomogeneousMatrix &wMc) const;
124  void setPosition(const vpHomogeneousMatrix &wMc);
125  void setVelocity(const vpRobot::vpControlFrameType frame,
126  const vpColVector &vel) ;
128 
129 private:
130  void init() ;
131 
132  // Non implemented virtual pure functions
133  void get_fJe(vpMatrix & /*_fJe */) {};
134  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) {};
135  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) {};
136 } ;
137 
138 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:97
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.
Class that defines the simplest robot: a free flying camera.
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
vpHomogeneousMatrix wMc_
This class aims to be a basis used to create all the robot simulators.
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...