Visual Servoing Platform  version 3.6.1 under development (2024-12-10)
vpRobotSimulator.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Basic class used to make robot simulators.
32  */
33 
39 #ifndef vpRobotSimulator_HH
40 #define vpRobotSimulator_HH
41 
42 #include <visp3/core/vpConfig.h>
43 #include <visp3/core/vpTime.h>
44 #include <visp3/core/vpVelocityTwistMatrix.h>
45 #include <visp3/robot/vpRobot.h>
46 
47 BEGIN_VISP_NAMESPACE
57 class VISP_EXPORT vpRobotSimulator : public vpRobot
58 {
59 protected:
60  double delta_t_; // sampling time in second
61 
62 public:
64 
73  inline double getSamplingTime() const { return (this->delta_t_); }
74 
81  virtual inline void setSamplingTime(const double &delta_t) { this->delta_t_ = delta_t; }
83 };
84 END_VISP_NAMESPACE
85 #endif
This class aims to be a basis used to create all the robot simulators.
virtual void setSamplingTime(const double &delta_t)
double getSamplingTime() const
Class that defines a generic virtual robot.
Definition: vpRobot.h:59