Visual Servoing Platform  version 3.6.1 under development (2024-10-13)
vpRobotCamera.h
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30  *
31  * Description:
32  * Defines the simplest robot : a free flying camera.
33  *
34 *****************************************************************************/
35 
41 #ifndef vpRobotCamera_H
42 #define vpRobotCamera_H
43 
44 #include <visp3/core/vpConfig.h>
45 
46 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
47 
48 #include <visp3/core/vpColVector.h>
49 #include <visp3/core/vpHomogeneousMatrix.h>
50 #include <visp3/core/vpMatrix.h>
51 #include <visp3/robot/vpRobotSimulator.h>
52 
53 BEGIN_VISP_NAMESPACE
112 class VISP_EXPORT vpRobotCamera : public vpRobotSimulator
113 {
114 protected:
115  vpHomogeneousMatrix cMw_; // camera to world
116 
117 public:
118  vpRobotCamera();
119 
122  void get_cVe(vpVelocityTwistMatrix &cVe) const;
123  void get_eJe(vpMatrix &eJe) VP_OVERRIDE;
124 
125  void getPosition(vpHomogeneousMatrix &cMw) const;
126  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE;
127 
128  void setPosition(const vpHomogeneousMatrix &cMw);
129  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v) VP_OVERRIDE;
131 
132 private:
133  void init() VP_OVERRIDE;
134 
135  // Non implemented virtual pure functions
136  void get_fJe(vpMatrix & /*_fJe */) VP_OVERRIDE { };
137  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) VP_OVERRIDE { };
138  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) VP_OVERRIDE { };
139 };
140 END_VISP_NAMESPACE
141 #endif
142 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
This class aims to be a basis used to create all the robot simulators.
vpControlFrameType
Definition: vpRobot.h:77
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
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 void init()=0
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.