53 #include <visp3/core/vpConfig.h> 54 #include <visp3/core/vpDebug.h> 55 #if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX 59 #ifdef VISP_HAVE_PTU46 61 #include <visp3/robot/vpRobotPtu46.h> 74 vpCTRACE <<
"Set position in the articular frame: " << q.t();
79 vpCTRACE <<
"Set position in the articular frame: " << q.t();
84 vpCTRACE <<
"Position in the articular frame " << qm.t();
92 vpCTRACE <<
"Set camera frame velocity " << qdot.t() ;
101 vpCTRACE <<
"Set camera frame velocity " << qdot.t() ;
109 vpCTRACE <<
"Set articular frame velocity " << qdot.t();
117 vpCTRACE <<
"Set articular frame velocity " << qdot.t();
121 std::cout <<
"Sorry PtU46 not available ..." << std::endl;
129 vpERROR_TRACE(
"You do not have a ptu-46 robot connected to your computer...");
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot)
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)
Initialize the position controller.
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Initialize the velocity controller.
Interface for the Directed Perception ptu-46 pan, tilt head .
static double rad(double deg)
Implementation of column vector and the associated operations.