34 #ifndef _vpRobotBiclops_h_
35 #define _vpRobotBiclops_h_
37 #include <visp3/core/vpConfig.h>
39 #ifdef VISP_HAVE_BICLOPS
51 #include <visp3/core/vpColVector.h>
52 #include <visp3/core/vpVelocityTwistMatrix.h>
53 #include <visp3/robot/vpBiclops.h>
54 #include <visp3/robot/vpRobot.h>
171 void init()
override;
254 double getPositioningVelocity(
void);
297 bool readPositionFile(
const std::string &filename,
vpColVector &q);
302 void setConfigFile(
const std::string &filename =
"/usr/share/BiclopsDefault.cfg");
356 void setPositioningVelocity(
double velocity);
413 static void vpRobotBiclopsSpeedControlLoop(
void *arg);
416 std::thread m_control_thread;
418 std::string m_configfile;
420 class vpRobotBiclopsController;
421 vpRobotBiclopsController *m_controller;
423 double m_positioningVelocity;
Jacobian, geometric model functionalities... for Biclops, pan, tilt head.
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
vpHomogeneousMatrix get_cMe() const
void get_cVe(vpVelocityTwistMatrix &cVe) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
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.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.