44 #include <visp3/core/vpDebug.h> 45 #include <visp3/core/vpExponentialMap.h> 46 #include <visp3/core/vpHomogeneousMatrix.h> 47 #include <visp3/robot/vpRobotException.h> 48 #include <visp3/robot/vpSimulatorCamera.h> 64 void vpSimulatorCamera::init()
160 for (
unsigned int i = 0; i < 3; i++) {
161 q[i] = this->
wMc_[i][3];
168 std::cout <<
"MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
171 std::cout <<
"END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
209 for (
unsigned int i = 0; i < 3; i++)
211 for (
unsigned int i = 3; i < 6; i++)
222 "functionality not implemented");
226 "functionality not implemented");
231 "functionality not implemented");
void setPosition(const vpHomogeneousMatrix &wMc)
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 setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setMaxTranslationVelocity(const double maxVt)
Implementation of an homogeneous matrix and operations on such kind of matrices.
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
void get_cVe(vpVelocityTwistMatrix &cVe) const
Initialize the velocity controller.
void extract(vpRotationMatrix &R) const
vpHomogeneousMatrix getPosition() const
virtual ~vpSimulatorCamera()
int areJointLimitsAvailable
static double rad(double deg)
void setMaxRotationVelocity(const double maxVr)
int nDof
number of degrees of freedom
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Implementation of column vector and the associated operations.
virtual vpRobotStateType getRobotState(void) const
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of a rotation vector as Euler angle minimal representation.
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
void get_eJe(vpMatrix &eJe)
void resize(const unsigned int i, const bool flagNullify=true)