Visual Servoing Platform  version 3.2.1 under development (2019-09-22) under development (2019-09-22)
vpRobotCamera.h
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30  *
31  * Description:
32  * Defines the simplest robot : a free flying camera.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpRobotCamera_H
40 #define vpRobotCamera_H
41 
47 #include <visp3/core/vpConfig.h>
48 
49 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
50 
51 #include <visp3/core/vpColVector.h>
52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpMatrix.h>
54 #include <visp3/robot/vpRobotSimulator.h>
55 
110 class VISP_EXPORT vpRobotCamera : public vpRobotSimulator
111 {
112 protected:
113  vpHomogeneousMatrix cMw_; // camera to world
114 
115 public:
116  vpRobotCamera();
117  virtual ~vpRobotCamera();
118 
121  void get_cVe(vpVelocityTwistMatrix &cVe) const;
122  void get_eJe(vpMatrix &eJe);
123 
124  void getPosition(vpHomogeneousMatrix &cMw) const;
126 
127  void setPosition(const vpHomogeneousMatrix &cMw);
128  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
130 
131 private:
132  void init();
133 
134  // Non implemented virtual pure functions
135  void get_fJe(vpMatrix & /*_fJe */){};
136  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
137  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
138 };
139 
140 #endif
141 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpControlFrameType
Definition: vpRobot.h:75
This class aims to be a basis used to create all the robot simulators.
Class that defines the simplest robot: a free flying camera. We recommend to use vpSimulatorCamera in...
virtual void init()=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
vpHomogeneousMatrix cMw_