Visual Servoing Platform  version 3.6.1 under development (2024-04-18)
vpRobotSimulator.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
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5  * This software is free software; you can redistribute it and/or modify
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9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
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18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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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 
34 #ifndef vpRobotSimulator_HH
35 #define vpRobotSimulator_HH
36 
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 
56 class VISP_EXPORT vpRobotSimulator : public vpRobot
57 {
58 protected:
59  double delta_t_; // sampling time in second
60 
61 public:
63 
72  inline double getSamplingTime() const { return (this->delta_t_); }
73 
80  virtual inline void setSamplingTime(const double &delta_t) { this->delta_t_ = delta_t; }
82 };
83 
84 #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:57