39 #ifndef _vpRobotBiclops_h_
40 #define _vpRobotBiclops_h_
42 #include <visp3/core/vpConfig.h>
44 #ifdef VISP_HAVE_BICLOPS
56 #include <visp3/core/vpColVector.h>
57 #include <visp3/core/vpVelocityTwistMatrix.h>
58 #include <visp3/robot/vpBiclops.h>
59 #include <visp3/robot/vpRobot.h>
60 #include <visp3/robot/vpRobotBiclopsController.h>
112 double getPositioningVelocity(
void);
116 bool readPositionFile(
const std::string &filename,
vpColVector &q);
118 void setConfigFile(
const std::string &filename =
"/usr/share/BiclopsDefault.cfg");
122 void setPositioningVelocity(
double velocity);
128 static void *vpRobotBiclopsSpeedControlLoop(
void *arg);
131 static bool robotAlreadyCreated;
132 pthread_t control_thread;
134 std::string configfile;
136 vpRobotBiclopsController controller;
138 double positioningVelocity;
140 bool controlThreadCreated;
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
void get_cVe(vpVelocityTwistMatrix &_cVe) const
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
vpHomogeneousMatrix get_cMe() 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.