Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpQbSoftHand.h
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30  *
31  * Description:
32  * Interface for the qb robotics qbSoftHand device.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpQbSoftHand_h_
40 #define _vpQbSoftHand_h_
41 
42 #include <visp3/core/vpConfig.h>
43 #ifdef VISP_HAVE_QBDEVICE
44 
45 #include <visp3/core/vpColVector.h>
46 #include <visp3/robot/vpQbDevice.h>
47 
93 class VISP_EXPORT vpQbSoftHand: public vpQbDevice
94 {
95 public:
96  vpQbSoftHand();
97  virtual ~vpQbSoftHand();
98 
99  void getCurrent(vpColVector &current, const int &id=1);
100  void getPosition(vpColVector &position, const int &id=1);
101 
102  void setPosition(const vpColVector &position, const int &id=1);
103  void setPosition(const vpColVector &position, double speed_factor, double stiffness, const int &id=1);
104 };
105 
106 
107 #endif
108 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130