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Visual Servoing Platform
version 3.3.0 under development (2020-02-17)
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Visual Servoing Platform
version 3.3.0 under development (2020-02-17)
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#include <visp3/robot/vpRobotWireFrameSimulator.h>
Inheritance diagram for vpRobotWireFrameSimulator:Public Types | |
| enum | vpDisplayRobotType { MODEL_3D, MODEL_DH } |
| enum | vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL, STATE_FORCE_TORQUE_CONTROL } |
| enum | vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME, CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME } |
Static Public Member Functions | |
Static Public Member Functions inherited from vpRobot | |
| static vpColVector | saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false) |
Public Attributes | |
| vpImage< vpRGBa > | I |
Protected Types | |
| enum | vpSceneObject { THREE_PTS, CUBE, PLATE, SMALL_PLATE, RECTANGLE, SQUARE_10CM, DIAMOND, TRAPEZOID, THREE_LINES, ROAD, TIRE, PIPE, CIRCLE, SPHERE, CYLINDER, PLAN, POINT_CLOUD } |
| enum | vpSceneDesiredObject { D_STANDARD, D_CIRCLE, D_TOOL } |
| enum | vpCameraTrajectoryDisplayType { CT_LINE, CT_POINT } |
Static Protected Attributes | |
| static const double | maxTranslationVelocityDefault = 0.2 |
| static const double | maxRotationVelocityDefault = 0.7 |
Protected Member Functions Inherited from vpRobotWireFrameSimulator | |
| static void * | launcher (void *arg) |
| void | init () |
| virtual void | updateArticularPosition ()=0 |
| virtual int | isInJointLimit ()=0 |
| virtual void | computeArticularVelocity ()=0 |
| void | initDisplay () |
| virtual void | initArms ()=0 |
| vpColVector | get_artCoord () |
| void | set_artCoord (const vpColVector &coord) |
| vpColVector | get_artVel () |
| void | set_artVel (const vpColVector &vel) |
| vpColVector | get_velocity () |
| void | set_velocity (const vpColVector &vel) |
| void | set_displayBusy (const bool &status) |
| bool | get_displayBusy () |
| virtual void | get_fMi (vpHomogeneousMatrix *fMit)=0 |
This class aims to be a basis used to create all the simulators of robots.
Thus in this class you will find all the parameters and methods which are necessary to create a simulator. Several methods are pure virtual. In this case it means that they are specific to the each robot, for example the computation of the geometrical model.
Definition at line 88 of file vpRobotWireFrameSimulator.h.
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inherited |
| Enumerator | |
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| CT_LINE | |
| CT_POINT | |
Definition at line 218 of file vpWireFrameSimulator.h.
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inherited |
Robot control frames.
| Enumerator | |
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| REFERENCE_FRAME | Corresponds to a fixed reference frame attached to the robot structure. |
| ARTICULAR_FRAME | Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE. |
| JOINT_STATE | Corresponds to the joint state. |
| END_EFFECTOR_FRAME | Corresponds to robot end-effector frame. |
| CAMERA_FRAME | Corresponds to a frame attached to the camera mounted on the robot end-effector. |
| TOOL_FRAME | Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME. |
| MIXT_FRAME | Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame. |
| Enumerator | |
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| MODEL_3D | |
| MODEL_DH | |
Definition at line 93 of file vpRobotWireFrameSimulator.h.
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inherited |
Robot control states.
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inherited |
Type of scene used to display the object at the desired pose (in the internal view).
Definition at line 211 of file vpWireFrameSimulator.h.
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inherited |
Type of scene used to display the object at the current position.
Definition at line 160 of file vpWireFrameSimulator.h.
| vpRobotWireFrameSimulator::vpRobotWireFrameSimulator | ( | ) |
Basic constructor
Definition at line 52 of file vpRobotWireFrameSimulator.cpp.
References display, I, vpDisplayX::init(), vpColVector::resize(), vpImage< Type >::resize(), setSamplingTime(), and velocity.
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explicit |
Default constructor.
| do_display | : When true, enables the display of the external view. |
Definition at line 83 of file vpRobotWireFrameSimulator.cpp.
References display, I, vpDisplayX::init(), vpColVector::resize(), vpImage< Type >::resize(), setSamplingTime(), and velocity.
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virtual |
Basic destructor
Definition at line 116 of file vpRobotWireFrameSimulator.cpp.
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protectedpure virtual |
Compute the articular velocity relative to the velocity in another frame.
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
Referenced by vpSimulatorAfma6::setPositioningVelocity(), and vpSimulatorViper850::setPositioningVelocity().
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inlineinherited |
Delete the history of the main camera position which are displayed in the external views.
Definition at line 293 of file vpWireFrameSimulator.h.
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protectedinherited |
Definition at line 78 of file vpWireFrameSimulator.cpp.
References vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpWireFrameSimulator::thickness_.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().
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protectedinherited |
Definition at line 122 of file vpWireFrameSimulator.cpp.
References vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpWireFrameSimulator::thickness_.
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inherited |
Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.
The two lists must have the same size of homogeneous matrices must have the same size.
| I | : The image where the trajectory is displayed. |
| list_cMo | : The homogeneous matrices list containing the position of the camera relative to the object. |
| list_fMo | : The homogeneous matrices list containing the position of the object relative to the world reference frame. |
| cMf | : A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame. |
Definition at line 1269 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpWireFrameSimulator::thickness_.
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inherited |
Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.
The two lists must have the same size of homogeneous matrices must have the same size.
| I | : The image where the trajectory is displayed. |
| list_cMo | : The homogeneous matrices list containing the position of the camera relative to the object. |
| list_fMo | : The homogeneous matrices list containing the position of the object relative to the world reference frame. |
| cMf | : A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame. |
Definition at line 1315 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpWireFrameSimulator::thickness_.
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inlineprotected |
Definition at line 497 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::get_eJe(), vpSimulatorViper850::get_eJe(), vpSimulatorAfma6::get_fJe(), vpSimulatorViper850::get_fJe(), vpSimulatorAfma6::getDisplacement(), vpSimulatorViper850::getDisplacement(), vpSimulatorAfma6::getPosition(), vpSimulatorViper850::getPosition(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::isInJointLimit(), vpSimulatorViper850::isInJointLimit(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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inlineprotected |
Definition at line 512 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
| vpHomogeneousMatrix vpRobotWireFrameSimulator::get_cMo | ( | ) |
Get the pose between the object and the robot's camera.
Definition at line 365 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::fMo, get_fMi(), vpHomogeneousMatrix::inverse(), and size_fMi.
Referenced by vpSimulatorAfma6::setPosition().
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inlineinherited |
Get the pose between the object and the camera.
Definition at line 404 of file vpWireFrameSimulator.h.
Referenced by getExternalCameraPosition().
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inlineinherited |
Get the homogeneous matrices cMo stored to display the camera trajectory.
| cMo_history | : The list of the homogeneous matrices cMo. |
Definition at line 412 of file vpWireFrameSimulator.h.
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inlineprotected |
Definition at line 546 of file vpRobotWireFrameSimulator.h.
Referenced by getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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pure virtualinherited |
Get the robot Jacobian expressed in the end-effector frame.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotBiclops, vpRobotFlirPtu, vpRobotPtu46, vpRobotPioneer, and vpRobotTemplate.
Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpSimulatorViper850::getPositioningVelocity().
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pure virtualinherited |
Get the robot Jacobian expressed in the robot reference (or world) frame.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotPtu46, and vpRobotTemplate.
Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpSimulatorViper850::getPositioningVelocity().
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protectedpure virtual |
Get a table of poses between the reference frame and the frames you used to compute the Denavit-Hartenberg representation
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
Referenced by get_cMo(), and getInternalView().
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inline |
Get the pose between the object and the fixed world frame.
Definition at line 255 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::fMo, and vpWireFrameSimulator::initScene().
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inlineinherited |
Get the homogeneous matrices fMo stored to display the camera trajectory.
| fMo_history | : The list of the homogeneous matrices fMo. |
Definition at line 433 of file vpWireFrameSimulator.h.
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inlineprotected |
Definition at line 526 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().
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pure virtualinherited |
Get a displacement (frame as to ve specified) between two successive position control.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotFlirPtu, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.
Referenced by vpRobotPioneer::get_eJe(), vpRobotTemplate::get_eMc(), vpRobotFlirPtu::get_eMc(), and vpRobotViper650::getControlMode().
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inline |
Get the parameters of the virtual external camera.
Definition at line 222 of file vpRobotWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
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inlineinherited |
Get the parameters of the virtual external camera.
| I | : The image used to display the view of the camera. |
Definition at line 312 of file vpWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
Referenced by vpWireFrameSimulator::projectCameraTrajectory().
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inlineinherited |
Get the parameters of the virtual external camera.
| I | : The image used to display the view of the camera. |
Definition at line 331 of file vpWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
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inline |
Get the external camera's position relative to the the world reference frame.
Definition at line 241 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::get_cMo(), and vpWireFrameSimulator::getExternalCameraPosition().
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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inherited |
Get the external view. It corresponds to the view of the scene from a reference frame you have to set.
| I | : The image where the external view is displayed. |
Definition at line 1074 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camColor, vpWireFrameSimulator::camera, vpWireFrameSimulator::cameraTrajectory, vpWireFrameSimulator::camMf, vpWireFrameSimulator::camMf2, vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::cMo, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpWireFrameSimulator::CUBE, vpWireFrameSimulator::curColor, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayCameraTrajectory, vpWireFrameSimulator::displayImageSimulator, vpDisplay::displayLine(), vpWireFrameSimulator::displayObject, vpDisplay::displayPoint(), vpWireFrameSimulator::extCamChanged, vpWireFrameSimulator::f2Mf, vpWireFrameSimulator::fMc, vpWireFrameSimulator::fMo, vpWireFrameSimulator::fMoList, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::navigation(), vpWireFrameSimulator::nbrPtLimit, vpWireFrameSimulator::objectImage, vpWireFrameSimulator::poseList, vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::px_ext, vpWireFrameSimulator::py_ext, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpImageSimulator::setCameraPosition(), vpWireFrameSimulator::SPHERE, and vpWireFrameSimulator::thickness_.
Referenced by vpSimulatorAfma6::setPositioningVelocity(), and vpSimulatorViper850::setPositioningVelocity().
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inherited |
Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.
| I | : The image where the external view is displayed. |
| cam_Mf | : The pose between the point of view and the fixed world frame. |
Definition at line 1203 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camColor, vpWireFrameSimulator::camera, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::objectImage, vpWireFrameSimulator::px_ext, vpWireFrameSimulator::py_ext, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, and vpImageSimulator::setCameraPosition().
Get the external view. It corresponds to the view of the scene from a reference frame you have to set.
| I | : The image where the external view is displayed. |
Definition at line 811 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camColor, vpWireFrameSimulator::camera, vpWireFrameSimulator::cameraTrajectory, vpWireFrameSimulator::camMf, vpWireFrameSimulator::camMf2, vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::cMo, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpWireFrameSimulator::CUBE, vpWireFrameSimulator::curColor, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayCameraTrajectory, vpWireFrameSimulator::displayImageSimulator, vpDisplay::displayLine(), vpWireFrameSimulator::displayObject, vpDisplay::displayPoint(), vpWireFrameSimulator::extCamChanged, vpWireFrameSimulator::f2Mf, vpWireFrameSimulator::fMc, vpWireFrameSimulator::fMo, vpWireFrameSimulator::fMoList, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::navigation(), vpWireFrameSimulator::nbrPtLimit, vpWireFrameSimulator::objectImage, vpWireFrameSimulator::poseList, vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::px_ext, vpWireFrameSimulator::py_ext, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpImageSimulator::setCameraPosition(), vpWireFrameSimulator::SPHERE, and vpWireFrameSimulator::thickness_.
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inherited |
Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.
| I | : The image where the external view is displayed. |
| cam_Mf | : The pose between the point of view and the fixed world frame. |
Definition at line 941 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camColor, vpWireFrameSimulator::camera, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::objectImage, vpWireFrameSimulator::px_ext, vpWireFrameSimulator::py_ext, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, and vpImageSimulator::setCameraPosition().
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inlineinherited |
Get the parameters of the virtual internal camera.
| I | : The image used to display the view of the camera. |
Definition at line 364 of file vpWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::getInternalImage().
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inlineinherited |
Get the parameters of the virtual internal camera.
| I | : The image used to display the view of the camera. |
Definition at line 383 of file vpWireFrameSimulator.h.
References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().
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inherited |
Get the internal view ie the view of the camera.
| I | : The image where the internal view is displayed. |
Definition at line 1000 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camMf, vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpException::notInitialized, vpWireFrameSimulator::objectImage, vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, and vpImageSimulator::setCameraPosition().
Get the internal view ie the view of the camera.
| I | : The image where the internal view is displayed. |
Definition at line 737 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpImage< Type >::display, vpDisplay::display(), vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::displayObject, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpWireFrameSimulator::getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpException::notInitialized, vpWireFrameSimulator::objectImage, vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, and vpImageSimulator::setCameraPosition().
Get the view of the camera's robot.
According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.
| I_ | : The image where the internal view is displayed. |
Definition at line 224 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, get_displayBusy(), get_fMi(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, set_displayBusy(), size_fMi, and vpTime::wait().
Referenced by vpSimulatorAfma6::setPosition().
| void vpRobotWireFrameSimulator::getInternalView | ( | vpImage< unsigned char > & | I_ | ) |
Get the view of the camera's robot.
According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.
| I_ | : The image where the internal view is displayed. |
Definition at line 297 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, get_displayBusy(), get_fMi(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), I, vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, set_displayBusy(), size_fMi, and vpTime::wait().
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inherited |
Get the maximal rotation velocity that can be sent to the robot during a velocity control.
Definition at line 273 of file vpRobot.cpp.
References vpRobot::maxRotationVelocity.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotFlirPtu::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
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inherited |
Get the maximal translation velocity that can be sent to the robot during a velocity control.
Definition at line 251 of file vpRobot.cpp.
References vpRobot::maxTranslationVelocity.
Referenced by vpSimulatorAfma6::setPosition(), vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotFlirPtu::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
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pure virtualinherited |
Get the robot position (frame has to be specified).
Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpRobotFlirPtu, vpSimulatorCamera, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.
Referenced by vpRobotPioneer::get_eJe(), vpRobotTemplate::get_eMc(), vpRobotFlirPtu::get_eMc(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotFranka::getHandler(), and vpRobot::getPosition().
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inherited |
Return the current robot position in the specified frame.
Definition at line 216 of file vpRobot.cpp.
References vpRobot::getPosition().
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inlineprotectedinherited |
Definition at line 172 of file vpRobot.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().
|
inlinevirtualinherited |
Definition at line 144 of file vpRobot.h.
Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotPtu46::setPosition(), vpRobotBiclops::setPosition(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpSimulatorAfma6::setPosition(), vpRobotAfma4::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma6::setPosition(), vpRobotFranka::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpRobotFlirPtu::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFranka::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotTemplate::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotFlirPtu::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpRobotFlirPtu::stopMotion(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotFranka::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().
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inlineinherited |
Return the sampling time.
Definition at line 82 of file vpRobotSimulator.h.
Referenced by vpVirtualGrabber::acquire(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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inlineprotectedvirtual |
Implements vpRobot.
Reimplemented in vpSimulatorViper850, and vpSimulatorAfma6.
Definition at line 390 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorViper850::get_fMi(), and vpSimulatorViper850::getPositioningVelocity().
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protectedpure virtual |
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
Referenced by vpSimulatorAfma6::get_fMi(), and vpSimulatorViper850::get_fMi().
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inlineprotected |
Definition at line 401 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::get_fMi(), and vpSimulatorViper850::get_fMi().
| void vpRobotWireFrameSimulator::initScene | ( | const vpSceneObject & | obj, |
| const vpSceneDesiredObject & | desired_object | ||
| ) |
Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
| obj | : Type of scene used to display the object at the current position. |
| desired_object | : Type of scene used to display the object at the desired pose (in the internal view). |
Definition at line 132 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().
| void vpRobotWireFrameSimulator::initScene | ( | const char * | obj, |
| const char * | desired_object | ||
| ) |
Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file. It is also possible to use a vrml (.wrl) file.
| obj | : Path to the scene file you want to use. |
| desired_object | : Path to the scene file you want to use. |
Definition at line 155 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().
| void vpRobotWireFrameSimulator::initScene | ( | const vpSceneObject & | obj | ) |
Initialize the display. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.
It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
| obj | : Type of scene used to display the object at the current position. |
Definition at line 179 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().
| void vpRobotWireFrameSimulator::initScene | ( | const char * | obj | ) |
Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.
Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file, or the vrml file.
| obj | : Path to the scene file you want to use. |
Definition at line 201 of file vpRobotWireFrameSimulator.cpp.
References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().
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inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
| obj | : Type of scene used to display the object at the current position. |
| desired_object | : Type of scene used to display the object at the desired pose (in the internal view). |
| imObj | : A list of vpImageSimulator instances. |
Definition at line 413 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.
Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
| obj | : Path to the scene file you want to use. |
| desired_object | : Path to the scene file you want to use. |
| imObj | : A list of vpImageSimulator instances. |
Definition at line 506 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.
|
inherited |
Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.
It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
| obj | : Type of scene used to display the object at the current position. |
| imObj | : A list of vpImageSimulator instances. |
Definition at line 648 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.
|
inherited |
Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.
Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.
It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.
| obj | : Path to the scene file you want to use. |
| imObj | : A list of vpImageSimulator instances. |
Definition at line 722 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.
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protectedpure virtual |
Method used to check if the robot reached a joint limit.
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
Referenced by vpSimulatorAfma6::get_fMi(), and vpSimulatorViper850::get_fMi().
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inlinestaticprotected |
Function used to launch the thread which moves the robot.
Definition at line 381 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().
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protectedinherited |
Enables to change the external camera position.
Definition at line 1346 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::blocked, vpWireFrameSimulator::blockedr, vpWireFrameSimulator::blockedt, vpWireFrameSimulator::blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), vpWireFrameSimulator::old_iPr, vpWireFrameSimulator::old_iPt, vpWireFrameSimulator::old_iPz, and vpMath::rad().
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
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protectedinherited |
Enables to change the external camera position.
Definition at line 1435 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::blocked, vpWireFrameSimulator::blockedr, vpWireFrameSimulator::blockedt, vpWireFrameSimulator::blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), vpWireFrameSimulator::old_iPr, vpWireFrameSimulator::old_iPt, vpWireFrameSimulator::old_iPz, and vpMath::rad().
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protectedinherited |
Project the center of the internal camera into the external camera view.
Definition at line 1526 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().
Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().
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protectedinherited |
Project the center of the internal camera into the external camera view.
Definition at line 1544 of file vpWireFrameSimulator.cpp.
References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().
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protectedinherited |
Project the center of the internal camera into the external camera view.
Definition at line 1563 of file vpWireFrameSimulator.cpp.
References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().
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protectedinherited |
Project the center of the internal camera into the external camera view.
Definition at line 1582 of file vpWireFrameSimulator.cpp.
References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().
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staticinherited |
Saturate velocities.
| v_in | : Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s. |
| v_max | : Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s. |
| verbose | : Print a message indicating which axis causes the saturation. |
| vpRobotException::dimensionError | : If the input vectors have different dimensions. |
The code below shows how to use this static method in order to saturate a velocity skew vector.
Definition at line 163 of file vpRobot.cpp.
References vpException::dimensionError, and vpArray2D< Type >::size().
Referenced by vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
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inlineprotected |
Definition at line 505 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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inlineprotected |
Definition at line 519 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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inlineprotected |
Definition at line 540 of file vpRobotWireFrameSimulator.h.
Referenced by getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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inline |
Set the pose between the object and the fixed world frame.
| fMo_ | : The pose between the object and the fixed world frame. |
Definition at line 364 of file vpRobotWireFrameSimulator.h.
|
inlineprotected |
Definition at line 533 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().
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inline |
Set the color used to display the camera in the external view.
| col | : The desired color. |
Definition at line 268 of file vpRobotWireFrameSimulator.h.
|
inlineinherited |
Set the transformation between the camera frame and the object frame.
| cMo_ | : The pose of the object in the camera frame. |
Definition at line 457 of file vpWireFrameSimulator.h.
References vpHomogeneousMatrix::inverse().
|
inlineinherited |
Set the position of the the world reference frame relative to the camera.
| fMc_ | : The pose of the camera. |
Definition at line 469 of file vpWireFrameSimulator.h.
References vpHomogeneousMatrix::inverse().
|
inlineinherited |
Set the parameter which enables to choose the size of the main camera in the external camera views. By default this parameter is set to 1.
| factor | : The ration for the camera size. |
Definition at line 481 of file vpWireFrameSimulator.h.
|
inlineinherited |
Set the color used to display the camera trajectory in the external view.
| col | : The desired color. |
Definition at line 489 of file vpWireFrameSimulator.h.
|
inlineinherited |
Set the way to display the history of the main camera trajectory in the main external view. The choice is given between displaying lines and points.
| camTraj_type | : The chosen way to display the camera trajectory. |
Definition at line 498 of file vpWireFrameSimulator.h.
|
inline |
Set the flag used to force the sampling time in the thread computing the robot's displacement to a constant value; see setSamplingTime(). It may be useful if the main thread (computing the features) is very time consuming. False by default.
| _constantSamplingTimeMode | : The new value of the constantSamplingTimeMode flag. |
Definition at line 279 of file vpRobotWireFrameSimulator.h.
|
inline |
Set the color used to display the object at the current position in the robot's camera view.
| col | : The desired color. |
Definition at line 290 of file vpRobotWireFrameSimulator.h.
|
inline |
Set the desired position of the robot's camera relative to the object.
| cdMo_ | : The desired pose of the camera. |
Definition at line 305 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::setDesiredCameraPosition().
|
inline |
Set the color used to display the object at the desired position in the robot's camera view.
| col | : The desired color. |
Definition at line 298 of file vpRobotWireFrameSimulator.h.
|
inlineinherited |
Enable or disable the displaying of the camera trajectory in the main external camera view.
By default the trajectory is displayed.
| do_display | : Set to true to display the camera trajectory. |
Definition at line 529 of file vpWireFrameSimulator.h.
|
inline |
Set the way to draw the robot. Depending on what you choose you can display a 3D wireframe model or a set of lines linking the frames used to compute the geometrical model.
| dispType | : Type of display. Can be MODEL_3D or MODEL_DH. |
Definition at line 317 of file vpRobotWireFrameSimulator.h.
|
inlineinherited |
Set the internal camera parameters.
| cam | : The desired camera parameters. |
Definition at line 536 of file vpWireFrameSimulator.h.
References vpCameraParameters::get_px(), and vpCameraParameters::get_py().
Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().
|
inline |
Set the external camera point of view.
| camMf_ | : The pose of the external camera relative to the world reference frame. |
Definition at line 324 of file vpRobotWireFrameSimulator.h.
References vpWireFrameSimulator::setExternalCameraPosition().
Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().
|
inline |
Specify the thickness of the graphics drawings.
Definition at line 331 of file vpRobotWireFrameSimulator.h.
|
inlineinherited |
Set the internal camera parameters.
| cam | : The desired camera parameters. |
Definition at line 567 of file vpWireFrameSimulator.h.
References vpCameraParameters::get_px(), and vpCameraParameters::get_py().
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inherited |
Set the maximal rotation velocity that can be sent to the robot during a velocity control.
| w_max | : Maximum rotational velocity expressed in rad/s. |
Definition at line 260 of file vpRobot.cpp.
References vpRobot::maxRotationVelocity.
Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().
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inherited |
Set the maximal translation velocity that can be sent to the robot during a velocity control.
| v_max | : Maximum translation velocity expressed in m/s. |
Definition at line 239 of file vpRobot.cpp.
References vpRobot::maxTranslationVelocity.
Referenced by vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().
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inlineinherited |
Set the maximum number of main camera's positions which are stored. Those position can be displayed in the external camera field of view. By default this parameter is set to 1000.
| nbPt | : The desired number of position which are saved. |
Definition at line 580 of file vpWireFrameSimulator.h.
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pure virtualinherited |
Set a displacement (frame has to be specified) in position control.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotFlirPtu, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.
Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotFranka::getHandler(), vpSimulatorAfma6::getPositioningVelocity(), vpSimulatorViper850::getPositioningVelocity(), vpRobotTemplate::set_eMc(), vpRobotFlirPtu::set_eMc(), and vpSimulatorAfma6::setPositioningVelocity().
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protectedinherited |
Definition at line 207 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().
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virtualinherited |
Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotFlirPtu, vpRobotBiclops, and vpRobotPtu46.
Definition at line 201 of file vpRobot.cpp.
Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotFranka::getHandler(), vpRobotFlirPtu::set_eMc(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpSimulatorAfma6::setPositioningVelocity(), vpSimulatorViper850::setPositioningVelocity(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpRobotFlirPtu::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFranka::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().
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inlinevirtual |
Set the sampling time.
| delta_t | : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time. |
Since the wireframe simulator is threaded, the sampling time is set to vpTime::getMinTimeForUsleepCall() / 1000 seconds.
Reimplemented from vpRobotSimulator.
Definition at line 343 of file vpRobotWireFrameSimulator.h.
References vpTime::getMinTimeForUsleepCall().
Referenced by vpRobotWireFrameSimulator().
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inline |
Set the parameter which enable or disable the singularity mangement
Definition at line 352 of file vpRobotWireFrameSimulator.h.
|
pure virtualinherited |
Set the velocity (frame has to be specified) that will be applied to the velocity controller.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotFlirPtu, vpSimulatorPioneerPan, vpRobotPioneer, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.
Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotFranka::getHandler(), vpRobotTemplate::set_eMc(), vpRobotFlirPtu::set_eMc(), vpSimulatorAfma6::setPositioningVelocity(), and vpSimulatorViper850::setPositioningVelocity().
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inline |
Activates extra printings when the robot reaches joint limits...
Definition at line 357 of file vpRobotWireFrameSimulator.h.
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protectedpure virtual |
Method lauched by the thread to compute the position of the robot in the articular frame.
Implemented in vpSimulatorViper850, and vpSimulatorAfma6.
Referenced by vpSimulatorAfma6::get_fMi(), and vpSimulatorViper850::get_fMi().
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protectedinherited |
Definition at line 112 of file vpRobot.h.
Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().
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protected |
The articular coordinates
Definition at line 115 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::init(), and vpSimulatorViper850::init().
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protected |
The articular velocity
Definition at line 117 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::init(), and vpSimulatorViper850::init().
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protected |
Definition at line 130 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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protectedinherited |
Definition at line 255 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation().
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protectedinherited |
Definition at line 252 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation().
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protectedinherited |
Definition at line 254 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation().
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Definition at line 253 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation().
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Definition at line 236 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
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Definition at line 223 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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Definition at line 270 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), and vpWireFrameSimulator::initScene().
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External camera parameters
Definition at line 150 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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Definition at line 244 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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Definition at line 228 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::projectCameraTrajectory().
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Definition at line 257 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
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Definition at line 237 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().
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Definition at line 272 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().
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Definition at line 231 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), and getInternalView().
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Definition at line 230 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().
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Flag used to force the sampling time in the thread computing the robot's displacement to a constant value (samplingTime). It may be useful if the main thread (computing the features) is very time consumming. False by default.
Definition at line 171 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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Definition at line 238 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and getInternalView().
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Definition at line 65 of file vpRobotSimulator.h.
Referenced by vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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Definition at line 239 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), and getInternalView().
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protectedinherited |
Definition at line 234 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), and vpWireFrameSimulator::initScene().
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Definition at line 222 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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Definition at line 153 of file vpRobotWireFrameSimulator.h.
Referenced by vpRobotWireFrameSimulator().
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Definition at line 166 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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Definition at line 138 of file vpRobotWireFrameSimulator.h.
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Definition at line 267 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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Definition at line 243 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage().
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Definition at line 266 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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protectedinherited |
Definition at line 268 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::initScene().
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protectedinherited |
Definition at line 265 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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Definition at line 164 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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robot Jacobian expressed in the end-effector frame
Definition at line 104 of file vpRobot.h.
Referenced by vpRobotFlirPtu::get_eJe(), vpSimulatorCamera::get_eJe(), vpRobotCamera::get_eJe(), vpRobot::operator=(), vpRobotAfma4::setVelocity(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().
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is the robot Jacobian expressed in the end-effector frame available
Definition at line 106 of file vpRobot.h.
Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().
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Definition at line 274 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage().
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protectedinherited |
Definition at line 258 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
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robot Jacobian expressed in the robot reference frame available
Definition at line 108 of file vpRobot.h.
Referenced by vpRobotFlirPtu::get_fJe(), and vpRobot::operator=().
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is the robot Jacobian expressed in the robot reference frame available
Definition at line 110 of file vpRobot.h.
Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().
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Definition at line 227 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage().
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Table containing all the homogeneous matrices between the reference frame of the robot and the frames you used to compute the Denavit-Hartenberg representation
If you use a camera at the end of the effector, the last homogeneous matrix has to be the one between the reference frame and the camera frame (fMc)
Definition at line 112 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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Definition at line 226 of file vpWireFrameSimulator.h.
Referenced by get_cMo(), get_fMo(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), and vpSimulatorViper850::initialiseObjectRelativeToCamera().
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protectedinherited |
Definition at line 246 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().
Definition at line 91 of file vpRobotWireFrameSimulator.h.
Referenced by getInternalView(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator().
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True if one of the joint reach the limit
Definition at line 143 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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Index of the joint which is in limit
Definition at line 145 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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protectedinherited |
Definition at line 98 of file vpRobot.h.
Referenced by vpRobot::getMaxRotationVelocity(), vpRobotTemplate::init(), vpRobotFlirPtu::init(), vpRobot::operator=(), vpRobot::setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().
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staticprotectedinherited |
Definition at line 99 of file vpRobot.h.
Referenced by vpRobotTemplate::init(), and vpRobotFlirPtu::init().
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protectedinherited |
Definition at line 96 of file vpRobot.h.
Referenced by vpRobot::getMaxTranslationVelocity(), vpRobotTemplate::init(), vpRobotFlirPtu::init(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().
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Definition at line 97 of file vpRobot.h.
Referenced by vpRobotTemplate::init(), and vpRobotFlirPtu::init().
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Definition at line 133 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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Definition at line 132 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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Definition at line 135 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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Definition at line 131 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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Definition at line 134 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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Definition at line 247 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage().
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number of degrees of freedom
Definition at line 102 of file vpRobot.h.
Referenced by vpRobotTemplate::init(), vpRobotFlirPtu::init(), vpRobot::operator=(), vpRobotTemplate::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotCamera::vpRobotCamera(), vpRobotFranka::vpRobotFranka(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().
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protectedinherited |
Definition at line 233 of file vpWireFrameSimulator.h.
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protectedinherited |
Definition at line 224 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::initScene().
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protectedinherited |
Definition at line 249 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
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protectedinherited |
Definition at line 251 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
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protectedinherited |
Definition at line 250 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().
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protectedinherited |
Definition at line 245 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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protectedinherited |
Definition at line 262 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
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protectedinherited |
Definition at line 260 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), and vpSimulatorViper850::setCameraParameters().
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protectedinherited |
Definition at line 263 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().
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protectedinherited |
Definition at line 261 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), and vpSimulatorViper850::setCameraParameters().
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protectedinherited |
Definition at line 114 of file vpRobot.h.
Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), vpSimulatorPioneerPan::vpSimulatorPioneerPan(), and vpRobot::~vpRobot().
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protectedinherited |
Definition at line 113 of file vpRobot.h.
Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), vpSimulatorPioneerPan::vpSimulatorPioneerPan(), and vpRobot::~vpRobot().
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protectedinherited |
Definition at line 229 of file vpWireFrameSimulator.h.
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Contains the 3D model of the robot's arms
Definition at line 102 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpSimulatorAfma6::init(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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True if the robot has to be stopped
Definition at line 141 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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protectedinherited |
Definition at line 276 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::projectCameraTrajectory(), and vpWireFrameSimulator::vpWireFrameSimulator().
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protectedinherited |
Definition at line 221 of file vpWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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protectedinherited |
Definition at line 241 of file vpWireFrameSimulator.h.
Referenced by vpWireFrameSimulator::getInternalImage(), getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().
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Flag used to specify to the thread managing the robot displacements that the setVelocity() method has been called.
Definition at line 175 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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True if the singularity are automatically managed
Definition at line 147 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().
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Size of the fMi table
Definition at line 105 of file vpRobotWireFrameSimulator.h.
Referenced by get_cMo(), getInternalView(), vpSimulatorAfma6::init(), and vpSimulatorViper850::init().
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cpu time at the begining of the robot's movement
Definition at line 97 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6::vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().
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protectedinherited |
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protected |
Definition at line 129 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().
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cpu time at the end of the last robot's movement
Definition at line 99 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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The velocity in the current frame (articular, camera or reference)
Definition at line 119 of file vpRobotWireFrameSimulator.h.
Referenced by vpRobotWireFrameSimulator().
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Definition at line 177 of file vpRobotWireFrameSimulator.h.
Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
1.8.13 