41 #ifndef vpRobotFlirPtu_h
42 #define vpRobotFlirPtu_h
44 #include <visp3/core/vpConfig.h>
46 #ifdef VISP_HAVE_FLIR_PTU_SDK
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/robot/vpRobot.h>
50 #include <visp3/robot/vpRobotException.h>
100 void connect(
const std::string &portname,
int baudrate = 9600);
118 std::string getNetworkIP();
119 std::string getNetworkGateway();
120 std::string getNetworkHostName();
135 void setPanPosLimits(
const vpColVector &pan_limits);
136 void setTiltPosLimits(
const vpColVector &tilt_limits);
138 void setPositioningVelocity(
double velocity);
143 static void emergencyStop(
int signo);
153 double tics2deg(
int axis,
int tics);
154 double tics2rad(
int axis,
int tics);
155 int rad2tics(
int axis,
double rad);
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.
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
std::vector< int > m_pos_max_tics
Pan min/max position in robot tics unit.
double m_positioning_velocity
std::vector< double > m_res
Pan/tilt tic resolution in deg.
void set_eMc(vpHomogeneousMatrix &eMc)
std::vector< int > m_vel_max_tics
Pan/tilt max velocity in robot tics unit.
vpHomogeneousMatrix get_eMc() const
std::vector< int > m_pos_min_tics
Tilt min/max position in robot tics unit.
Class that defines a generic virtual robot.
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 vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void get_fJe(vpMatrix &_fJe)=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.