39 #ifndef vpRobotAfma4_h 40 #define vpRobotAfma4_h 42 #include <visp3/core/vpConfig.h> 44 #ifdef VISP_HAVE_AFMA4 49 #include <visp3/core/vpColVector.h> 50 #include <visp3/core/vpDebug.h> 51 #include <visp3/robot/vpAfma4.h> 52 #include <visp3/robot/vpRobot.h> 56 #include "irisa_Afma4.h" 197 static bool robotAlreadyCreated;
199 double positioningVelocity;
204 double time_prev_getvel;
205 bool first_time_getvel;
210 bool first_time_getdis;
228 double getPositioningVelocity(
void);
229 bool getPowerState();
231 double getTime()
const;
247 void move(
const char *filename);
252 static bool readPosFile(
const std::string &filename,
vpColVector &q);
253 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
260 void setPositioningVelocity(
const double velocity);
Implementation of a matrix and operations on matrices.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
void get_cMe(vpHomogeneousMatrix &cMe) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Class that defines a generic virtual robot.
void get_cVe(vpVelocityTwistMatrix &cVe) const
void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Modelisation of Irisa's cylindrical robot named Afma4.
Implementation of column vector and the associated operations.
Control of Irisa's cylindrical robot named Afma4.
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
static const double defaultPositioningVelocity