Visual Servoing Platform  version 3.6.1 under development (2024-06-22)
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 
108 class VISP_EXPORT vpRobotCamera : public vpRobotSimulator
109 {
110 protected:
111  vpHomogeneousMatrix cMw_; // camera to world
112 
113 public:
114  vpRobotCamera();
115 
118  void get_cVe(vpVelocityTwistMatrix &cVe) const;
119  void get_eJe(vpMatrix &eJe) vp_override;
120 
121  void getPosition(vpHomogeneousMatrix &cMw) const;
122  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
123 
124  void setPosition(const vpHomogeneousMatrix &cMw);
125  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v) vp_override;
127 
128 private:
129  void init() vp_override;
130 
131  // Non implemented virtual pure functions
132  void get_fJe(vpMatrix & /*_fJe */) vp_override { };
133  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) vp_override { };
134  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) vp_override { };
135 };
137 #endif
138 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
Class that defines the simplest robot: a free flying camera. We recommend to use vpSimulatorCamera in...
vpHomogeneousMatrix cMw_
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.