#include <visp3/robot/vpRobotWireFrameSimulator.h>

Inheritance diagram for vpRobotWireFrameSimulator:

Public Types
enum	vpDisplayRobotType { MODEL_3D, MODEL_DH }

enum	vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }

enum	vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, CAMERA_FRAME, MIXT_FRAME }

Public Member Functions
	vpRobotWireFrameSimulator ()

	vpRobotWireFrameSimulator (bool display)

virtual	~vpRobotWireFrameSimulator ()

Inherited functionalities from vpRobotWireFrameSimulator
vpCameraParameters	getExternalCameraParameters () const

vpHomogeneousMatrix	getExternalCameraPosition () const

void	getInternalView (vpImage< vpRGBa > &I)

void	getInternalView (vpImage< unsigned char > &I)

vpHomogeneousMatrix	get_cMo ()

vpHomogeneousMatrix	get_fMo () const

void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)

void	initScene (const char obj, const char desiredObject)

void	initScene (const vpSceneObject &obj)

void	initScene (const char *obj)

void	setCameraColor (const vpColor &col)

void	setConstantSamplingTimeMode (const bool _constantSamplingTimeMode)

void	setCurrentViewColor (const vpColor &col)

void	setDesiredViewColor (const vpColor &col)

void	setDesiredCameraPosition (const vpHomogeneousMatrix &cdMo_)

void	setDisplayRobotType (const vpDisplayRobotType dispType)

void	setExternalCameraPosition (const vpHomogeneousMatrix &camMf_)

void	setGraphicsThickness (unsigned int thickness)

void	setSamplingTime (const double &delta_t)

void	setSingularityManagement (const bool sm)

void	setVerbose (bool verbose)

void	set_fMo (const vpHomogeneousMatrix &fMo_)

Inherited functionalities from vpRobotSimulator
double	getSamplingTime () const

Inherited functionalities from vpRobot
virtual void	get_eJe (vpMatrix &_eJe)=0

virtual void	get_fJe (vpMatrix &_fJe)=0

virtual void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)=0

double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)=0

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

virtual vpRobotStateType	getRobotState (void) const

void	setMaxRotationVelocity (const double maxVr)

void	setMaxTranslationVelocity (const double maxVt)

virtual void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)=0

virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

virtual void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0

Static Public Member Functions
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Public Attributes
vpImage< vpRGBa >	I

Protected Types
enum	vpSceneObject { THREE_PTS, CUBE, PLATE, SMALL_PLATE, RECTANGLE, SQUARE_10CM, DIAMOND, TRAPEZOID, THREE_LINES, ROAD, TIRE, PIPE, CIRCLE, SPHERE, CYLINDER, PLAN, POINT_CLOUD }

enum	vpSceneDesiredObject { D_STANDARD, D_CIRCLE, D_TOOL }

enum	vpCameraTrajectoryDisplayType { CT_LINE, CT_POINT }

Protected Member Functions
Inherited functionalities from vpWireFrameSimulator
void	deleteCameraPositionHistory ()

void	displayTrajectory (const vpImage< unsigned char > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)

void	displayTrajectory (const vpImage< vpRGBa > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)

vpCameraParameters	getExternalCameraParameters (const vpImage< unsigned char > &I) const

vpCameraParameters	getExternalCameraParameters (const vpImage< vpRGBa > &I) const

void	getExternalImage (vpImage< unsigned char > &I)

void	getExternalImage (vpImage< unsigned char > &I, const vpHomogeneousMatrix &camMf)

void	getExternalImage (vpImage< vpRGBa > &I)

void	getExternalImage (vpImage< vpRGBa > &I, const vpHomogeneousMatrix &camMf)

vpCameraParameters	getInternalCameraParameters (const vpImage< unsigned char > &I) const

vpCameraParameters	getInternalCameraParameters (const vpImage< vpRGBa > &I) const

void	getInternalImage (vpImage< unsigned char > &I)

void	getInternalImage (vpImage< vpRGBa > &I)

vpHomogeneousMatrix	get_cMo () const

void	get_cMo_History (std::list< vpHomogeneousMatrix > &cMo_history)

void	get_fMo_History (std::list< vpHomogeneousMatrix > &fMo_history)

void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject, const std::list< vpImageSimulator > &imObj)

void	initScene (const char obj, const char desiredObject, const std::list< vpImageSimulator > &imObj)

void	initScene (const vpSceneObject &obj, const std::list< vpImageSimulator > &imObj)

void	initScene (const char *obj, const std::list< vpImageSimulator > &imObj)

void	setCameraPositionRelObj (const vpHomogeneousMatrix &cMo_)

void	setCameraPositionRelWorld (const vpHomogeneousMatrix &fMc_)

void	setCameraSizeFactor (const float factor)

void	setCameraTrajectoryColor (const vpColor &col)

void	setCameraTrajectoryDisplayType (const vpCameraTrajectoryDisplayType &camTraj_type)

void	setDisplayCameraTrajectory (const bool &do_display)

void	setExternalCameraParameters (const vpCameraParameters &cam)

void	setInternalCameraParameters (const vpCameraParameters &cam)

void	setNbPtTrajectory (const unsigned int nbPt)

Protected Member Functions Inherited from vpWireFrameSimulator
void	display_scene (Matrix mat, Bound_scene &sc, const vpImage< vpRGBa > &I, const vpColor &color)

void	display_scene (Matrix mat, Bound_scene &sc, const vpImage< unsigned char > &I, const vpColor &color)

vpHomogeneousMatrix	navigation (const vpImage< vpRGBa > &I, bool &changed)

vpHomogeneousMatrix	navigation (const vpImage< unsigned char > &I, bool &changed)

vpImagePoint	projectCameraTrajectory (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)

vpImagePoint	projectCameraTrajectory (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)

vpImagePoint	projectCameraTrajectory (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)

vpImagePoint	projectCameraTrajectory (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)

Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void) const

Protected Attributes
double	tcur

double	tprev

Bound_scene *	robotArms

unsigned int	size_fMi

vpHomogeneousMatrix *	fMi

vpColVector	artCoord

vpColVector	artVel

vpColVector	velocity

pthread_t	thread

pthread_attr_t	attr

pthread_mutex_t	mutex_fMi

pthread_mutex_t	mutex_artVel

pthread_mutex_t	mutex_artCoord

pthread_mutex_t	mutex_velocity

pthread_mutex_t	mutex_display

bool	displayBusy

bool	robotStop

bool	jointLimit

unsigned int	jointLimitArt

bool	singularityManagement

vpCameraParameters	cameraParam

vpDisplayX	display

vpDisplayRobotType	displayType

bool	displayAllowed

bool	constantSamplingTimeMode

bool	setVelocityCalled

bool	verbose_

Bound_scene	scene

Bound_scene	desiredScene

Bound_scene	camera

std::list< vpImageSimulator >	objectImage

vpHomogeneousMatrix	fMo

vpHomogeneousMatrix	fMc

vpHomogeneousMatrix	camMf

vpHomogeneousMatrix	refMo

vpHomogeneousMatrix	cMo

vpHomogeneousMatrix	cdMo

vpSceneObject	object

vpSceneDesiredObject	desiredObject

vpColor	camColor

vpColor	camTrajColor

vpColor	curColor

vpColor	desColor

bool	sceneInitialized

bool	displayCameraTrajectory

std::list< vpImagePoint >	cameraTrajectory

std::list< vpHomogeneousMatrix >	poseList

std::list< vpHomogeneousMatrix >	fMoList

unsigned int	nbrPtLimit

vpImagePoint	old_iPr

vpImagePoint	old_iPz

vpImagePoint	old_iPt

bool	blockedr

bool	blockedz

bool	blockedt

bool	blocked

vpHomogeneousMatrix	camMf2

vpHomogeneousMatrix	f2Mf

double	px_int

double	py_int

double	px_ext

double	py_ext

bool	displayObject

bool	displayDesiredObject

bool	displayCamera

bool	displayImageSimulator

float	cameraFactor

vpCameraTrajectoryDisplayType	camTrajType

bool	extCamChanged

vpHomogeneousMatrix	rotz

unsigned int	thickness_

double	delta_t_

double	maxTranslationVelocity

double	maxRotationVelocity

int	nDof

vpMatrix	eJe

int	eJeAvailable

vpMatrix	fJe

int	fJeAvailable

int	areJointLimitsAvailable

double *	qmin

double *	qmax

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2

static const double	maxRotationVelocityDefault = 0.7

Protected Member Functions Inherited from vpRobotWireFrameSimulator
static void *	launcher (void *arg)

void	init ()

virtual void	updateArticularPosition ()=0

virtual int	isInJointLimit ()=0

virtual void	computeArticularVelocity ()=0

void	initDisplay ()

virtual void	initArms ()=0

vpColVector	get_artCoord ()

void	set_artCoord (const vpColVector &coord)

vpColVector	get_artVel ()

void	set_artVel (const vpColVector &vel)

vpColVector	get_velocity ()

void	set_velocity (const vpColVector &vel)

void	set_displayBusy (const bool &status)

bool	get_displayBusy ()

virtual void	get_fMi (vpHomogeneousMatrix *fMit)=0

Detailed Description

This class aims to be a basis used to create all the simulators of robots.

Thus in this class you will find all the parameters and methods which are necessary to create a simulator. Several methods are pure virtual. In this case it means that they are specific to the each robot, for example the computation of the geometrical model.

Warning: This class uses threading capabilities. Thus on Unix-like platforms, the libpthread third-party library need to be installed. On Windows, we use the native threading capabilities.

Definition at line 88 of file vpRobotWireFrameSimulator.h.

Member Enumeration Documentation

◆ vpCameraTrajectoryDisplayType

enum vpWireFrameSimulator::vpCameraTrajectoryDisplayType

inherited

Enumerator
CT_LINE
CT_POINT

Definition at line 219 of file vpWireFrameSimulator.h.

◆ vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint space.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 75 of file vpRobot.h.

◆ vpDisplayRobotType

enum vpRobotWireFrameSimulator::vpDisplayRobotType

Enumerator
MODEL_3D
MODEL_DH

Definition at line 93 of file vpRobotWireFrameSimulator.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.

Definition at line 64 of file vpRobot.h.

◆ vpSceneDesiredObject

enum vpWireFrameSimulator::vpSceneDesiredObject

inherited

Type of scene used to display the object at the desired pose (in the internal view).

D_STANDARD will use the vpSceneObject used to be the object at the current position.
D_OUTIL will display a tool which is attached to the camera.

Enumerator
D_STANDARD	The object displayed at the desired position is the same than the scene object defined in vpSceneObject.
D_CIRCLE	The object displayed at the desired position is a circle.
D_TOOL	A cylindrical tool is attached to the camera.

Definition at line 212 of file vpWireFrameSimulator.h.

◆ vpSceneObject

enum vpWireFrameSimulator::vpSceneObject

inherited

Type of scene used to display the object at the current position.

Enumerator
THREE_PTS	A 40cm by 40cm plate with 3 points at coordinates (0,0,0), (0.1,0,0), (0,0.1,0). Each point is represented by a circle with 2cm radius.
CUBE	A 12.5cm size cube.
PLATE	A 40cm by 40cm plate with 4 points at coordinates (-0.1,-0.1,0), (0.1,-0.1,0), (0.1,0.1,0), (0.1,0.1,0). Each point is represented by a circle with 2cm radius.
SMALL_PLATE	4 points at coordinates (-0.03,-0.03,0), (0.03,-0.03,0), (0.03,0.03,0), (0.03,0.03,0). Each point is represented by a circle with 1cm radius.
RECTANGLE	A 40cm by 40cm plate with 4 points at coordinates (-0.07,-0.05,0), (0.07,0.05,0), (0.07,-0.05,0), (-0.07,-0.05,0). Each point is represented by a circle with 2cm radius.
SQUARE_10CM	A 40cm by 40cm plate with 4 points at coordinates (-0.05,0.05,0), (0.05,0.05,0), (0.05,-0.05,0), (-0.05,-0.05,0). Each point is represented by a circle with 2cm radius.
DIAMOND	A 40cm by 40cm plate with 4 points at coordinates (0,-0.1,0), (0.1,0,0), (0,0.1,0), (-0.1,0,0). Each point is represented by a circle with 2cm radius.
TRAPEZOID	A 40cm by 40cm plate with 4 points at coordinates (-0.025,-0.05,0), (-0.075,0.05,0), (0.075,0.05,0), (0.025,-0.05,0). Each point is represented by a circle with 2cm radius.
THREE_LINES	Three parallel lines with equation y=-5, y=0, y=5.
ROAD	Three parallel lines representing a road.
TIRE	A tire represented by 2 circles with radius 10cm and 15cm.
PIPE	A pipe represented by a cylinder of 25 cm length and 15cm radius.
CIRCLE	A 10cm radius circle.
SPHERE	A 15cm radius sphere.
CYLINDER	A cylinder of 80cm length and 10cm radius.
PLAN	A plane represented by a 56cm by 56cm plate with a grid of 49 squares inside.
POINT_CLOUD	A plate with 8 points at coordinates (0.05,0,0), (0.15,0.05,0), (0.2,0.2,0), (-0.05,0.2,0), (-0.15,-0.1,0), (-0.1,-0.1,0), (-0.05,0.05,0) and (0.5,0,0). ach point is represented by a circle with 2cm radius.

Definition at line 161 of file vpWireFrameSimulator.h.

Constructor & Destructor Documentation

◆ vpRobotWireFrameSimulator() [1/2]

vpRobotWireFrameSimulator::vpRobotWireFrameSimulator ( )

Basic constructor

Definition at line 52 of file vpRobotWireFrameSimulator.cpp.

References display, I, vpDisplayX::init(), vpColVector::resize(), vpImage< Type >::resize(), setSamplingTime(), and velocity.

◆ vpRobotWireFrameSimulator() [2/2]

vpRobotWireFrameSimulator::vpRobotWireFrameSimulator ( bool do_display )

explicit

Default constructor.

Parameters

do_display : When true, enables the display of the external view.

Definition at line 83 of file vpRobotWireFrameSimulator.cpp.

References display, I, vpDisplayX::init(), vpColVector::resize(), vpImage< Type >::resize(), setSamplingTime(), and velocity.

◆ ~vpRobotWireFrameSimulator()

vpRobotWireFrameSimulator::~vpRobotWireFrameSimulator ( )

virtual

Basic destructor

Definition at line 116 of file vpRobotWireFrameSimulator.cpp.

Member Function Documentation

◆ computeArticularVelocity()

virtual void vpRobotWireFrameSimulator::computeArticularVelocity ( )

protectedpure virtual

Compute the articular velocity relative to the velocity in another frame.

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

Referenced by vpSimulatorAfma6::setPositioningVelocity(), and vpSimulatorViper850::setPositioningVelocity().

◆ deleteCameraPositionHistory()

void vpWireFrameSimulator::deleteCameraPositionHistory ( )

inlineinherited

Delete the history of the main camera position which are displayed in the external views.

Definition at line 294 of file vpWireFrameSimulator.h.

◆ display_scene() [1/2]

void vpWireFrameSimulator::display_scene	(	Matrix	mat,
		Bound_scene &	sc,
		const vpImage< vpRGBa > &	I,
		const vpColor &	color
	)

protectedinherited

Definition at line 78 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpWireFrameSimulator::thickness_.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ display_scene() [2/2]

void vpWireFrameSimulator::display_scene	(	Matrix	mat,
		Bound_scene &	sc,
		const vpImage< unsigned char > &	I,
		const vpColor &	color
	)

protectedinherited

Definition at line 122 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpWireFrameSimulator::thickness_.

◆ displayTrajectory() [1/2]

void vpWireFrameSimulator::displayTrajectory	(	const vpImage< unsigned char > &	I,
		const std::list< vpHomogeneousMatrix > &	list_cMo,
		const std::list< vpHomogeneousMatrix > &	list_fMo,
		const vpHomogeneousMatrix &	cMf
	)

inherited

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame.

Definition at line 1269 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpWireFrameSimulator::thickness_.

◆ displayTrajectory() [2/2]

void vpWireFrameSimulator::displayTrajectory	(	const vpImage< vpRGBa > &	I,
		const std::list< vpHomogeneousMatrix > &	list_cMo,
		const std::list< vpHomogeneousMatrix > &	list_fMo,
		const vpHomogeneousMatrix &	cMf
	)

inherited

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame.

Definition at line 1315 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpWireFrameSimulator::thickness_.

◆ get_artCoord()

vpColVector vpRobotWireFrameSimulator::get_artCoord ( )

inlineprotected

Definition at line 497 of file vpRobotWireFrameSimulator.h.

◆ get_artVel()

vpColVector vpRobotWireFrameSimulator::get_artVel ( )

inlineprotected

Definition at line 512 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ get_cMo() [1/2]

vpHomogeneousMatrix vpRobotWireFrameSimulator::get_cMo ( )

Get the pose between the object and the robot's camera.

Returns: The pose between the object and the fixed world frame.

Examples:: servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 365 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::fMo, get_fMi(), vpHomogeneousMatrix::inverse(), and size_fMi.

Referenced by vpSimulatorAfma6::setPosition().

◆ get_cMo() [2/2]

vpHomogeneousMatrix vpWireFrameSimulator::get_cMo ( ) const

inlineinherited

Get the pose between the object and the camera.

Returns: The pose between between the object and the camera.

Definition at line 405 of file vpWireFrameSimulator.h.

Referenced by getExternalCameraPosition().

◆ get_cMo_History()

void vpWireFrameSimulator::get_cMo_History ( std::list< vpHomogeneousMatrix > & cMo_history )

inlineinherited

Get the homogeneous matrices cMo stored to display the camera trajectory.

Parameters

cMo_history : The list of the homogeneous matrices cMo.

Definition at line 413 of file vpWireFrameSimulator.h.

◆ get_displayBusy()

bool vpRobotWireFrameSimulator::get_displayBusy ( )

inlineprotected

Definition at line 546 of file vpRobotWireFrameSimulator.h.

Referenced by getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ get_eJe()

virtual void vpRobot::get_eJe ( vpMatrix & _eJe )

pure virtualinherited

Get the robot Jacobian expressed in the end-effector frame.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotPtu46, vpRobotPioneer, and vpRobotTemplate.

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpSimulatorViper850::getPositioningVelocity().

◆ get_fJe()

virtual void vpRobot::get_fJe ( vpMatrix & _fJe )

pure virtualinherited

Get the robot Jacobian expressed in the robot reference (or world) frame.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpSimulatorViper850::getPositioningVelocity().

◆ get_fMi()

virtual void vpRobotWireFrameSimulator::get_fMi ( vpHomogeneousMatrix * fMit )

protectedpure virtual

Get a table of poses between the reference frame and the frames you used to compute the Denavit-Hartenberg representation

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

Referenced by get_cMo(), and getInternalView().

◆ get_fMo()

vpHomogeneousMatrix vpRobotWireFrameSimulator::get_fMo ( ) const

inline

Get the pose between the object and the fixed world frame.

Returns: The pose between the object and the fixed world frame.

Definition at line 255 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::fMo, and vpWireFrameSimulator::initScene().

◆ get_fMo_History()

void vpWireFrameSimulator::get_fMo_History ( std::list< vpHomogeneousMatrix > & fMo_history )

inlineinherited

Get the homogeneous matrices fMo stored to display the camera trajectory.

Parameters

fMo_history : The list of the homogeneous matrices fMo.

Definition at line 434 of file vpWireFrameSimulator.h.

◆ get_velocity()

vpColVector vpRobotWireFrameSimulator::get_velocity ( )

inlineprotected

Definition at line 526 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ getDisplacement()

virtual void vpRobot::getDisplacement	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q
	)

pure virtualinherited

Get a displacement (frame as to ve specified) between two successive position control.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), and vpRobotViper650::getControlMode().

◆ getExternalCameraParameters() [1/3]

vpCameraParameters vpRobotWireFrameSimulator::getExternalCameraParameters ( ) const

inline

Get the parameters of the virtual external camera.

Returns: It returns the camera parameters.

Definition at line 222 of file vpRobotWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

◆ getExternalCameraParameters() [2/3]

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< unsigned char > & I ) const

inlineinherited

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 313 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

Referenced by vpWireFrameSimulator::projectCameraTrajectory().

◆ getExternalCameraParameters() [3/3]

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inlineinherited

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 332 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

◆ getExternalCameraPosition()

vpHomogeneousMatrix vpRobotWireFrameSimulator::getExternalCameraPosition ( ) const

inline

Get the external camera's position relative to the the world reference frame.

Returns: the main external camera position relative to the the world reference frame.

Definition at line 241 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::get_cMo(), and vpWireFrameSimulator::getExternalCameraPosition().

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ getExternalImage() [1/4]

void vpWireFrameSimulator::getExternalImage ( vpImage< unsigned char > & I )

inherited

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 1074 of file vpWireFrameSimulator.cpp.

Referenced by vpSimulatorAfma6::setPositioningVelocity(), and vpSimulatorViper850::setPositioningVelocity().

◆ getExternalImage() [2/4]

void vpWireFrameSimulator::getExternalImage	(	vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cam_Mf
	)

inherited

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
cam_Mf	: The pose between the point of view and the fixed world frame.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1203 of file vpWireFrameSimulator.cpp.

◆ getExternalImage() [3/4]

void vpWireFrameSimulator::getExternalImage ( vpImage< vpRGBa > & I )

inherited

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 811 of file vpWireFrameSimulator.cpp.

◆ getExternalImage() [4/4]

void vpWireFrameSimulator::getExternalImage	(	vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cam_Mf
	)

inherited

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
cam_Mf	: The pose between the point of view and the fixed world frame.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 941 of file vpWireFrameSimulator.cpp.

◆ getInternalCameraParameters() [1/2]

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< unsigned char > & I ) const

inlineinherited

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 365 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::getInternalImage().

◆ getInternalCameraParameters() [2/2]

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inlineinherited

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 384 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

◆ getInternalImage() [1/2]

void vpWireFrameSimulator::getInternalImage ( vpImage< unsigned char > & I )

inherited

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 1000 of file vpWireFrameSimulator.cpp.

◆ getInternalImage() [2/2]

void vpWireFrameSimulator::getInternalImage ( vpImage< vpRGBa > & I )

inherited

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 737 of file vpWireFrameSimulator.cpp.

◆ getInternalView() [1/2]

void vpRobotWireFrameSimulator::getInternalView ( vpImage< vpRGBa > & I_ )

Get the view of the camera's robot.

According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.

Parameters

I_	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples:: servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 224 of file vpRobotWireFrameSimulator.cpp.

Referenced by vpSimulatorAfma6::setPosition().

◆ getInternalView() [2/2]

void vpRobotWireFrameSimulator::getInternalView ( vpImage< unsigned char > & I_ )

Get the view of the camera's robot.

According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.

Parameters

I_	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 297 of file vpRobotWireFrameSimulator.cpp.

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 273 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns: Maximum translation velocity expressed in m/s.

Definition at line 251 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ getPosition() [1/2]

virtual void vpRobot::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q
	)

pure virtualinherited

Get the robot position (frame has to be specified).

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotPtu46, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpRobot::getPosition().

◆ getPosition() [2/2]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 216 of file vpRobot.cpp.

References vpRobot::getPosition().

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 167 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 139 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotPtu46::setPosition(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpRobotBiclops::setPosition(), vpSimulatorAfma6::setPosition(), vpRobotAfma4::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma6::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpRobotAfma4::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotPtu46::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().

◆ getSamplingTime()

double vpRobotSimulator::getSamplingTime ( ) const

inlineinherited

Return the sampling time.

Returns: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Examples:: tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, and tutorial-simu-pioneer-continuous-gain-constant.cpp.

Definition at line 82 of file vpRobotSimulator.h.

Referenced by vpVirtualGrabber::acquire(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ init()

void vpRobotWireFrameSimulator::init ( void )

inlineprotectedvirtual

Implements vpRobot.

Reimplemented in vpSimulatorViper850, and vpSimulatorAfma6.

Definition at line 390 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorViper850::get_fMi(), and vpSimulatorViper850::getPositioningVelocity().

◆ initArms()

virtual void vpRobotWireFrameSimulator::initArms ( )

protectedpure virtual

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

Referenced by vpSimulatorAfma6::get_fMi(), and vpSimulatorViper850::get_fMi().

◆ initDisplay()

void vpRobotWireFrameSimulator::initDisplay ( )

inlineprotected

Definition at line 401 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::get_fMi(), and vpSimulatorViper850::get_fMi().

◆ initScene() [1/8]

void vpRobotWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object
	)

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.
desired_object	: Type of scene used to display the object at the desired pose (in the internal view).

Examples:: servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 132 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

◆ initScene() [2/8]

void vpRobotWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desired_object
	)

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file. It is also possible to use a vrml (.wrl) file.

Parameters

obj	: Path to the scene file you want to use.
desired_object	: Path to the scene file you want to use.

Definition at line 155 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

◆ initScene() [3/8]

void vpRobotWireFrameSimulator::initScene ( const vpSceneObject & obj )

Initialize the display. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.

Definition at line 179 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

◆ initScene() [4/8]

void vpRobotWireFrameSimulator::initScene ( const char * obj )

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file, or the vrml file.

Parameters

obj	: Path to the scene file you want to use.

Definition at line 201 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

◆ initScene() [5/8]

void vpWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
desired_object	: Type of scene used to display the object at the desired pose (in the internal view).
imObj	: A list of vpImageSimulator instances.

Definition at line 413 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

◆ initScene() [6/8]

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desired_object,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
desired_object	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 506 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

◆ initScene() [7/8]

void vpWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
imObj	: A list of vpImageSimulator instances.

Definition at line 648 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

◆ initScene() [8/8]

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 722 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

◆ isInJointLimit()

virtual int vpRobotWireFrameSimulator::isInJointLimit ( )

protectedpure virtual

Method used to check if the robot reached a joint limit.

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

Referenced by vpSimulatorAfma6::get_fMi(), and vpSimulatorViper850::get_fMi().

◆ launcher()

static void* vpRobotWireFrameSimulator::launcher ( void * arg )

inlinestaticprotected

Function used to launch the thread which moves the robot.

Definition at line 381 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().

◆ navigation() [1/2]

vpHomogeneousMatrix vpWireFrameSimulator::navigation	(	const vpImage< vpRGBa > &	I,
		bool &	changed
	)

protectedinherited

◆ navigation() [2/2]

vpHomogeneousMatrix vpWireFrameSimulator::navigation	(	const vpImage< unsigned char > &	I,
		bool &	changed
	)

protectedinherited

Enables to change the external camera position.

Definition at line 1435 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::blocked, vpWireFrameSimulator::blockedr, vpWireFrameSimulator::blockedt, vpWireFrameSimulator::blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), vpWireFrameSimulator::old_iPr, vpWireFrameSimulator::old_iPt, vpWireFrameSimulator::old_iPz, and vpMath::rad().

◆ projectCameraTrajectory() [1/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1526 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

◆ projectCameraTrajectory() [2/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1544 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

◆ projectCameraTrajectory() [3/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_,
		const vpHomogeneousMatrix &	cMf
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1563 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

◆ projectCameraTrajectory() [4/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_,
		const vpHomogeneousMatrix &	cMf
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1582 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = `false`
	)

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
  return 0;
}

Definition at line 163 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ set_artCoord()

void vpRobotWireFrameSimulator::set_artCoord ( const vpColVector & coord )

inlineprotected

Definition at line 505 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ set_artVel()

void vpRobotWireFrameSimulator::set_artVel ( const vpColVector & vel )

inlineprotected

Definition at line 519 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ set_displayBusy()

void vpRobotWireFrameSimulator::set_displayBusy ( const bool & status )

inlineprotected

Definition at line 540 of file vpRobotWireFrameSimulator.h.

Referenced by getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ set_fMo()

void vpRobotWireFrameSimulator::set_fMo ( const vpHomogeneousMatrix & fMo_ )

inline

Set the pose between the object and the fixed world frame.

Parameters

fMo_	: The pose between the object and the fixed world frame.

Definition at line 364 of file vpRobotWireFrameSimulator.h.

◆ set_velocity()

void vpRobotWireFrameSimulator::set_velocity ( const vpColVector & vel )

inlineprotected

Definition at line 533 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

◆ setCameraColor()

void vpRobotWireFrameSimulator::setCameraColor ( const vpColor & col )

inline

Set the color used to display the camera in the external view.

Parameters

col	: The desired color.

Definition at line 268 of file vpRobotWireFrameSimulator.h.

◆ setCameraPositionRelObj()

void vpWireFrameSimulator::setCameraPositionRelObj ( const vpHomogeneousMatrix & cMo_ )

inlineinherited

Set the position of the camera relative to the object.

Parameters

cMo_	: The pose of the camera.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 458 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

◆ setCameraPositionRelWorld()

void vpWireFrameSimulator::setCameraPositionRelWorld ( const vpHomogeneousMatrix & fMc_ )

inlineinherited

Set the position of the the world reference frame relative to the camera.

Parameters

fMc_	: The pose of the camera.

Definition at line 470 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

◆ setCameraSizeFactor()

void vpWireFrameSimulator::setCameraSizeFactor ( const float factor )

inlineinherited

Set the parameter which enables to choose the size of the main camera in the external camera views. By default this parameter is set to 1.

Parameters

factor : The ration for the camera size.

Definition at line 482 of file vpWireFrameSimulator.h.

◆ setCameraTrajectoryColor()

void vpWireFrameSimulator::setCameraTrajectoryColor ( const vpColor & col )

inlineinherited

Set the color used to display the camera trajectory in the external view.

Parameters

col	: The desired color.

Definition at line 490 of file vpWireFrameSimulator.h.

◆ setCameraTrajectoryDisplayType()

void vpWireFrameSimulator::setCameraTrajectoryDisplayType ( const vpCameraTrajectoryDisplayType & camTraj_type )

inlineinherited

Set the way to display the history of the main camera trajectory in the main external view. The choice is given between displaying lines and points.

Parameters

camTraj_type : The chosen way to display the camera trajectory.

Definition at line 499 of file vpWireFrameSimulator.h.

◆ setConstantSamplingTimeMode()

void vpRobotWireFrameSimulator::setConstantSamplingTimeMode ( const bool _constantSamplingTimeMode )

inline

Set the flag used to force the sampling time in the thread computing the robot's displacement to a constant value; see setSamplingTime(). It may be useful if the main thread (computing the features) is very time consuming. False by default.

Parameters

_constantSamplingTimeMode : The new value of the constantSamplingTimeMode flag.

Examples:: servoMomentPoints.cpp.

Definition at line 279 of file vpRobotWireFrameSimulator.h.

◆ setCurrentViewColor()

void vpRobotWireFrameSimulator::setCurrentViewColor ( const vpColor & col )

inline

Set the color used to display the object at the current position in the robot's camera view.

Parameters

col	: The desired color.

Examples:: servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 290 of file vpRobotWireFrameSimulator.h.

◆ setDesiredCameraPosition()

void vpRobotWireFrameSimulator::setDesiredCameraPosition ( const vpHomogeneousMatrix & cdMo_ )

inline

Set the desired position of the robot's camera relative to the object.

Parameters

cdMo_ : The desired pose of the camera.

Examples:: servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 305 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::setDesiredCameraPosition().

◆ setDesiredViewColor()

void vpRobotWireFrameSimulator::setDesiredViewColor ( const vpColor & col )

inline

Set the color used to display the object at the desired position in the robot's camera view.

Parameters

col	: The desired color.

Examples:: servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 298 of file vpRobotWireFrameSimulator.h.

◆ setDisplayCameraTrajectory()

void vpWireFrameSimulator::setDisplayCameraTrajectory ( const bool & do_display )

inlineinherited

Enable or disable the displaying of the camera trajectory in the main external camera view.

By default the trajectory is displayed.

Parameters

do_display : Set to true to display the camera trajectory.

Definition at line 530 of file vpWireFrameSimulator.h.

◆ setDisplayRobotType()

void vpRobotWireFrameSimulator::setDisplayRobotType ( const vpDisplayRobotType dispType )

inline

Set the way to draw the robot. Depending on what you choose you can display a 3D wireframe model or a set of lines linking the frames used to compute the geometrical model.

Parameters

dispType : Type of display. Can be MODEL_3D or MODEL_DH.

Definition at line 317 of file vpRobotWireFrameSimulator.h.

◆ setExternalCameraParameters()

void vpWireFrameSimulator::setExternalCameraParameters ( const vpCameraParameters & cam )

inlineinherited

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 537 of file vpWireFrameSimulator.h.

References vpCameraParameters::get_px(), and vpCameraParameters::get_py().

Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().

◆ setExternalCameraPosition()

void vpRobotWireFrameSimulator::setExternalCameraPosition ( const vpHomogeneousMatrix & camMf_ )

inline

Set the external camera point of view.

Parameters

camMf_ : The pose of the external camera relative to the world reference frame.

Definition at line 324 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::setExternalCameraPosition().

Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().

◆ setGraphicsThickness()

void vpRobotWireFrameSimulator::setGraphicsThickness ( unsigned int thickness )

inline

Specify the thickness of the graphics drawings.

Definition at line 331 of file vpRobotWireFrameSimulator.h.

◆ setInternalCameraParameters()

void vpWireFrameSimulator::setInternalCameraParameters ( const vpCameraParameters & cam )

inlineinherited

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 568 of file vpWireFrameSimulator.h.

References vpCameraParameters::get_px(), and vpCameraParameters::get_py().

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( const double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max : Maximum rotation velocity expressed in rad/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, and testFeatureSegment.cpp.

Definition at line 260 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( const double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max : Maximum translation velocity expressed in m/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 239 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ setNbPtTrajectory()

void vpWireFrameSimulator::setNbPtTrajectory ( const unsigned int nbPt )

inlineinherited

Set the maximum number of main camera's positions which are stored. Those position can be displayed in the external camera field of view. By default this parameter is set to 1000.

Parameters

nbPt	: The desired number of position which are saved.

Definition at line 581 of file vpWireFrameSimulator.h.

◆ setPosition()

virtual void vpRobot::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	q
	)

pure virtualinherited

Set a displacement (frame has to be specified) in position control.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpSimulatorAfma6::getPositioningVelocity(), vpSimulatorViper850::getPositioningVelocity(), and vpSimulatorAfma6::setPositioningVelocity().

◆ setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 207 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType newState )

virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, and vpRobotPtu46.

Examples:: moveBiclops.cpp, photometricVisualServoing.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 201 of file vpRobot.cpp.

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpSimulatorAfma6::setPositioningVelocity(), vpSimulatorViper850::setPositioningVelocity(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpRobotAfma4::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

◆ setSamplingTime()

void vpRobotWireFrameSimulator::setSamplingTime ( const double & delta_t )

inlinevirtual

Set the sampling time.

Parameters

delta_t : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Since the wireframe simulator is threaded, the sampling time is set to vpTime::getMinTimeForUsleepCall() / 1000 seconds.

Reimplemented from vpRobotSimulator.

Definition at line 343 of file vpRobotWireFrameSimulator.h.

References vpTime::getMinTimeForUsleepCall().

Referenced by vpRobotWireFrameSimulator().

◆ setSingularityManagement()

void vpRobotWireFrameSimulator::setSingularityManagement ( const bool sm )

inline

Set the parameter which enable or disable the singularity mangement

Definition at line 352 of file vpRobotWireFrameSimulator.h.

◆ setVelocity()

virtual void vpRobot::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel
	)

pure virtualinherited

Set the velocity (frame has to be specified) that will be applied to the velocity controller.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpSimulatorPioneerPan, vpRobotPioneer, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotPtu46, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpSimulatorAfma6::setPositioningVelocity(), and vpSimulatorViper850::setPositioningVelocity().

◆ setVerbose()

void vpRobotWireFrameSimulator::setVerbose ( bool verbose )

inline

Activates extra printings when the robot reaches joint limits...

Definition at line 357 of file vpRobotWireFrameSimulator.h.

◆ updateArticularPosition()

virtual void vpRobotWireFrameSimulator::updateArticularPosition ( )

protectedpure virtual

Method lauched by the thread to compute the position of the robot in the articular frame.

Implemented in vpSimulatorViper850, and vpSimulatorAfma6.

Referenced by vpSimulatorAfma6::get_fMi(), and vpSimulatorViper850::get_fMi().

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 107 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ artCoord

vpColVector vpRobotWireFrameSimulator::artCoord

protected

The articular coordinates

Definition at line 115 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::init(), and vpSimulatorViper850::init().

◆ artVel

vpColVector vpRobotWireFrameSimulator::artVel

protected

The articular velocity

Definition at line 117 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::init(), and vpSimulatorViper850::init().

◆ attr

pthread_attr_t vpRobotWireFrameSimulator::attr

protected

Definition at line 130 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ blocked

bool vpWireFrameSimulator::blocked

protectedinherited

Definition at line 256 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

◆ blockedr

bool vpWireFrameSimulator::blockedr

protectedinherited

Definition at line 253 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

◆ blockedt

bool vpWireFrameSimulator::blockedt

protectedinherited

Definition at line 255 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

◆ blockedz

bool vpWireFrameSimulator::blockedz

protectedinherited

Definition at line 254 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

◆ camColor

vpColor vpWireFrameSimulator::camColor

protectedinherited

Definition at line 237 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ camera

Bound_scene vpWireFrameSimulator::camera

protectedinherited

Definition at line 224 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ cameraFactor

float vpWireFrameSimulator::cameraFactor

protectedinherited

Definition at line 271 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), and vpWireFrameSimulator::initScene().

◆ cameraParam

vpCameraParameters vpRobotWireFrameSimulator::cameraParam

protected

External camera parameters

Definition at line 150 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ cameraTrajectory

std::list<vpImagePoint> vpWireFrameSimulator::cameraTrajectory

protectedinherited

Definition at line 245 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ camMf

vpHomogeneousMatrix vpWireFrameSimulator::camMf

protectedinherited

Definition at line 229 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::projectCameraTrajectory().

◆ camMf2

vpHomogeneousMatrix vpWireFrameSimulator::camMf2

protectedinherited

Definition at line 258 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ camTrajColor

vpColor vpWireFrameSimulator::camTrajColor

protectedinherited

Definition at line 238 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

◆ camTrajType

vpCameraTrajectoryDisplayType vpWireFrameSimulator::camTrajType

protectedinherited

Definition at line 273 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

◆ cdMo

vpHomogeneousMatrix vpWireFrameSimulator::cdMo

protectedinherited

Definition at line 232 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ cMo

vpHomogeneousMatrix vpWireFrameSimulator::cMo

protectedinherited

Definition at line 231 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ constantSamplingTimeMode

bool vpRobotWireFrameSimulator::constantSamplingTimeMode

protected

Flag used to force the sampling time in the thread computing the robot's displacement to a constant value (samplingTime). It may be useful if the main thread (computing the features) is very time consumming. False by default.

Definition at line 171 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ curColor

vpColor vpWireFrameSimulator::curColor

protectedinherited

Definition at line 239 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ delta_t_

double vpRobotSimulator::delta_t_

protectedinherited

Definition at line 65 of file vpRobotSimulator.h.

Referenced by vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

◆ desColor

vpColor vpWireFrameSimulator::desColor

protectedinherited

Definition at line 240 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), and getInternalView().

◆ desiredObject

vpSceneDesiredObject vpWireFrameSimulator::desiredObject

protectedinherited

Definition at line 235 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), and vpWireFrameSimulator::initScene().

◆ desiredScene

Bound_scene vpWireFrameSimulator::desiredScene

protectedinherited

Definition at line 223 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ display

vpDisplayX vpRobotWireFrameSimulator::display

protected

Definition at line 153 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator().

◆ displayAllowed

bool vpRobotWireFrameSimulator::displayAllowed

protected

Definition at line 166 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ displayBusy

bool vpRobotWireFrameSimulator::displayBusy

protected

Definition at line 138 of file vpRobotWireFrameSimulator.h.

◆ displayCamera

bool vpWireFrameSimulator::displayCamera

protectedinherited

Definition at line 268 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ displayCameraTrajectory

bool vpWireFrameSimulator::displayCameraTrajectory

protectedinherited

Definition at line 244 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

◆ displayDesiredObject

bool vpWireFrameSimulator::displayDesiredObject

protectedinherited

Definition at line 267 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ displayImageSimulator

bool vpWireFrameSimulator::displayImageSimulator

protectedinherited

Definition at line 269 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::initScene().

◆ displayObject

bool vpWireFrameSimulator::displayObject

protectedinherited

Definition at line 266 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ displayType

vpDisplayRobotType vpRobotWireFrameSimulator::displayType

protected

Definition at line 164 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 99 of file vpRobot.h.

Referenced by vpSimulatorCamera::get_eJe(), vpRobotCamera::get_eJe(), vpRobot::operator=(), vpRobotAfma4::setVelocity(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

◆ eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 101 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ extCamChanged

bool vpWireFrameSimulator::extCamChanged

protectedinherited

Definition at line 275 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

◆ f2Mf

vpHomogeneousMatrix vpWireFrameSimulator::f2Mf

protectedinherited

Definition at line 259 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 103 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 105 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ fMc

vpHomogeneousMatrix vpWireFrameSimulator::fMc

protectedinherited

Definition at line 228 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

◆ fMi

vpHomogeneousMatrix* vpRobotWireFrameSimulator::fMi

protected

Table containing all the homogeneous matrices between the reference frame of the robot and the frames you used to compute the Denavit-Hartenberg representation

If you use a camera at the end of the effector, the last homogeneous matrix has to be the one between the reference frame and the camera frame (fMc)

Definition at line 112 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ fMo

vpHomogeneousMatrix vpWireFrameSimulator::fMo

protectedinherited

Definition at line 227 of file vpWireFrameSimulator.h.

Referenced by get_cMo(), get_fMo(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), and vpSimulatorViper850::initialiseObjectRelativeToCamera().

◆ fMoList

std::list<vpHomogeneousMatrix> vpWireFrameSimulator::fMoList

protectedinherited

Definition at line 247 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ I

vpImage<vpRGBa> vpRobotWireFrameSimulator::I

Definition at line 91 of file vpRobotWireFrameSimulator.h.

Referenced by getInternalView(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().

◆ jointLimit

bool vpRobotWireFrameSimulator::jointLimit

protected

True if one of the joint reach the limit

Definition at line 143 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ jointLimitArt

unsigned int vpRobotWireFrameSimulator::jointLimitArt

protected

Index of the joint which is in limit

Definition at line 145 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 93 of file vpRobot.h.

Referenced by vpRobot::getMaxRotationVelocity(), vpRobot::operator=(), vpRobot::setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 94 of file vpRobot.h.

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 91 of file vpRobot.h.

Referenced by vpRobot::getMaxTranslationVelocity(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().

◆ maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 92 of file vpRobot.h.

◆ mutex_artCoord

pthread_mutex_t vpRobotWireFrameSimulator::mutex_artCoord

protected

Definition at line 133 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ mutex_artVel

pthread_mutex_t vpRobotWireFrameSimulator::mutex_artVel

protected

Definition at line 132 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ mutex_display

pthread_mutex_t vpRobotWireFrameSimulator::mutex_display

protected

Definition at line 135 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ mutex_fMi

pthread_mutex_t vpRobotWireFrameSimulator::mutex_fMi

protected

Definition at line 131 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ mutex_velocity

pthread_mutex_t vpRobotWireFrameSimulator::mutex_velocity

protected

Definition at line 134 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ nbrPtLimit

unsigned int vpWireFrameSimulator::nbrPtLimit

protectedinherited

Definition at line 248 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

◆ nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 97 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

◆ object

vpSceneObject vpWireFrameSimulator::object

protectedinherited

Definition at line 234 of file vpWireFrameSimulator.h.

◆ objectImage

std::list<vpImageSimulator> vpWireFrameSimulator::objectImage

protectedinherited

Definition at line 225 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::initScene().

◆ old_iPr

vpImagePoint vpWireFrameSimulator::old_iPr

protectedinherited

Definition at line 250 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ old_iPt

vpImagePoint vpWireFrameSimulator::old_iPt

protectedinherited

Definition at line 252 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ old_iPz

vpImagePoint vpWireFrameSimulator::old_iPz

protectedinherited

Definition at line 251 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ poseList

std::list<vpHomogeneousMatrix> vpWireFrameSimulator::poseList

protectedinherited

Definition at line 246 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ px_ext

double vpWireFrameSimulator::px_ext

protectedinherited

Definition at line 263 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ px_int

double vpWireFrameSimulator::px_int

protectedinherited

Definition at line 261 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), and vpSimulatorViper850::setCameraParameters().

◆ py_ext

double vpWireFrameSimulator::py_ext

protectedinherited

Definition at line 264 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

◆ py_int

double vpWireFrameSimulator::py_int

protectedinherited

Definition at line 262 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), and vpSimulatorViper850::setCameraParameters().

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 109 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), vpSimulatorPioneerPan::vpSimulatorPioneerPan(), and vpRobot::~vpRobot().

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 108 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), vpSimulatorPioneerPan::vpSimulatorPioneerPan(), and vpRobot::~vpRobot().

◆ refMo

vpHomogeneousMatrix vpWireFrameSimulator::refMo

protectedinherited

Definition at line 230 of file vpWireFrameSimulator.h.

◆ robotArms

Bound_scene* vpRobotWireFrameSimulator::robotArms

protected

Contains the 3D model of the robot's arms

Definition at line 102 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpSimulatorAfma6::init(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ robotStop

bool vpRobotWireFrameSimulator::robotStop

protected

True if the robot has to be stopped

Definition at line 141 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ rotz

vpHomogeneousMatrix vpWireFrameSimulator::rotz

protectedinherited

Definition at line 277 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::projectCameraTrajectory(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ scene

Bound_scene vpWireFrameSimulator::scene

protectedinherited

Definition at line 222 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ sceneInitialized

bool vpWireFrameSimulator::sceneInitialized

protectedinherited

Definition at line 242 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

◆ setVelocityCalled

bool vpRobotWireFrameSimulator::setVelocityCalled

protected

Flag used to specify to the thread managing the robot displacements that the setVelocity() method has been called.

Definition at line 175 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ singularityManagement

bool vpRobotWireFrameSimulator::singularityManagement

protected

True if the singularity are automatically managed

Definition at line 147 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

◆ size_fMi

unsigned int vpRobotWireFrameSimulator::size_fMi

protected

Size of the fMi table

Definition at line 105 of file vpRobotWireFrameSimulator.h.

Referenced by get_cMo(), getInternalView(), vpSimulatorAfma6::init(), and vpSimulatorViper850::init().

◆ tcur

double vpRobotWireFrameSimulator::tcur

protected

cpu time at the begining of the robot's movement

Definition at line 97 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().

◆ thickness_

unsigned int vpWireFrameSimulator::thickness_

protectedinherited

Definition at line 279 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ thread

pthread_t vpRobotWireFrameSimulator::thread

protected

Definition at line 129 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

◆ tprev

double vpRobotWireFrameSimulator::tprev

protected

cpu time at the end of the last robot's movement

Definition at line 99 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

◆ velocity

vpColVector vpRobotWireFrameSimulator::velocity

protected

The velocity in the current frame (articular, camera or reference)

Definition at line 119 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator().

◆ verbose_

bool vpRobotWireFrameSimulator::verbose_

protected

Definition at line 177 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Protected Member Functions Inherited from vpRobotWireFrameSimulator

Detailed Description

Member Enumeration Documentation

◆ vpCameraTrajectoryDisplayType

◆ vpControlFrameType

◆ vpDisplayRobotType

◆ vpRobotStateType

◆ vpSceneDesiredObject

◆ vpSceneObject

Constructor & Destructor Documentation

◆ vpRobotWireFrameSimulator() [1/2]

◆ vpRobotWireFrameSimulator() [2/2]

◆ ~vpRobotWireFrameSimulator()

Member Function Documentation

◆ computeArticularVelocity()

◆ deleteCameraPositionHistory()

◆ display_scene() [1/2]

◆ display_scene() [2/2]

◆ displayTrajectory() [1/2]

◆ displayTrajectory() [2/2]

◆ get_artCoord()

◆ get_artVel()

◆ get_cMo() [1/2]

◆ get_cMo() [2/2]

◆ get_cMo_History()

◆ get_displayBusy()

◆ get_eJe()

◆ get_fJe()

◆ get_fMi()

◆ get_fMo()

◆ get_fMo_History()

◆ get_velocity()

◆ getDisplacement()

◆ getExternalCameraParameters() [1/3]

◆ getExternalCameraParameters() [2/3]

◆ getExternalCameraParameters() [3/3]

◆ getExternalCameraPosition()

◆ getExternalImage() [1/4]

◆ getExternalImage() [2/4]

◆ getExternalImage() [3/4]

◆ getExternalImage() [4/4]

◆ getInternalCameraParameters() [1/2]

◆ getInternalCameraParameters() [2/2]

◆ getInternalImage() [1/2]

◆ getInternalImage() [2/2]

◆ getInternalView() [1/2]

◆ getInternalView() [2/2]

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getRobotFrame()

◆ getRobotState()

◆ getSamplingTime()

◆ init()

◆ initArms()

◆ initDisplay()

◆ initScene() [1/8]

◆ initScene() [2/8]

◆ initScene() [3/8]

◆ initScene() [4/8]

◆ initScene() [5/8]

◆ initScene() [6/8]

◆ initScene() [7/8]

◆ initScene() [8/8]

◆ isInJointLimit()

◆ launcher()

◆ navigation() [1/2]

◆ navigation() [2/2]

◆ projectCameraTrajectory() [1/4]

◆ projectCameraTrajectory() [2/4]

◆ projectCameraTrajectory() [3/4]