39 #include <visp3/core/vpConfig.h> 40 #ifdef VISP_HAVE_PTU46 42 #ifndef _vpRobotPtu46_h_ 43 #define _vpRobotPtu46_h_ 54 #include <visp3/core/vpColVector.h> 55 #include <visp3/core/vpDebug.h> 56 #include <visp3/core/vpVelocityTwistMatrix.h> 57 #include <visp3/robot/vpPtu46.h> 58 #include <visp3/robot/vpRobot.h> 91 static bool robotAlreadyCreated;
92 double positioningVelocity;
93 int velocityMesureTempo;
99 explicit vpRobotPtu46(
const char *device =
"/dev/ttyS0");
110 double getPositioningVelocity(
void);
116 bool readPositionFile(
const std::string &filename,
vpColVector &q);
121 void setPositioningVelocity(
const double velocity);
Implementation of a matrix and operations on matrices.
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const double defaultPositioningVelocity
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.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void get_cMe(vpHomogeneousMatrix &_cMe) const
Interface for the Directed Perception ptu-46 pan, tilt head .
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
void get_cVe(vpVelocityTwistMatrix &_cVe) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception...
Implementation of column vector and the associated operations.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0