44 #include <visp3/robot/vpRobotCamera.h> 46 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS) 48 #include <visp3/core/vpDebug.h> 49 #include <visp3/core/vpExponentialMap.h> 50 #include <visp3/core/vpHomogeneousMatrix.h> 51 #include <visp3/robot/vpRobotException.h> 81 void vpRobotCamera::init()
159 for (
unsigned int i = 0; i < 3; i++)
161 for (
unsigned int i = 3; i < 6; i++)
171 "functionality not implemented");
175 "functionality not implemented");
180 "functionality not implemented");
230 for (
unsigned int i = 0; i < 3; i++) {
231 q[i] = this->
cMw_[i][3];
238 std::cout <<
"MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
241 std::cout <<
"END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
259 #elif !defined(VISP_BUILD_SHARED_LIBS) 262 void dummy_vpRobotCamera(){};
Implementation of a matrix and operations on matrices.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Error that can be emited by the vpRobot class and its derivates.
void setMaxTranslationVelocity(const double maxVt)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setPosition(const vpHomogeneousMatrix &cMw)
double getMaxTranslationVelocity(void) const
Initialize the position controller.
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
double getMaxRotationVelocity(void) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Implementation of a rotation matrix and operations on such kind of matrices.
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Initialize the velocity controller.
void extract(vpRotationMatrix &R) const
int areJointLimitsAvailable
static double rad(double deg)
void setMaxRotationVelocity(const double maxVr)
int nDof
number of degrees of freedom
void getPosition(vpHomogeneousMatrix &cMw) const
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
void get_cVe(vpVelocityTwistMatrix &cVe) const
Implementation of column vector and the associated operations.
void get_eJe(vpMatrix &eJe)
vpHomogeneousMatrix inverse() const
virtual vpRobotStateType getRobotState(void) const
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of a rotation vector as Euler angle minimal representation.
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v)
void resize(const unsigned int i, const bool flagNullify=true)