34 #ifndef _vpRobotBiclops_h_
35 #define _vpRobotBiclops_h_
37 #include <visp3/core/vpConfig.h>
39 #if defined(VISP_HAVE_BICLOPS) && defined(VISP_HAVE_THREADS)
51 #include <visp3/core/vpColVector.h>
52 #include <visp3/core/vpVelocityTwistMatrix.h>
53 #include <visp3/robot/vpBiclops.h>
54 #include <visp3/robot/vpRobot.h>
180 void init() VP_OVERRIDE;
210 void get_eJe(
vpMatrix &eJe) VP_OVERRIDE;
218 void get_fJe(
vpMatrix &fJe) VP_OVERRIDE;
263 double getPositioningVelocity(
void);
306 bool readPositionFile(const std::
string &filename,
vpColVector &q);
311 void setConfigFile(const std::
string &filename = "/usr/share/BiclopsDefault.cfg");
357 void setPosition(const std::
string &filename);
365 void setPositioningVelocity(
double velocity);
422 static
void vpRobotBiclopsSpeedControlLoop(
void *arg);
425 std::thread m_control_thread;
427 std::
string m_configfile;
429 class vpRobotBiclopsController;
430 vpRobotBiclopsController *m_controller;
432 double m_positioningVelocity;
Jacobian, geometric model functionalities... for Biclops, pan, tilt head.
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Interface for the Biclops, pan, tilt head control.
static const double defaultPositioningVelocity
Class that defines a generic virtual robot.