Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
vpRobotTemplate.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Defines a robot just to show which function you must implement.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
45 #include <visp3/core/vpDebug.h>
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/robot/vpRobotTemplate.h>
48 
51 {
52  vpTRACE(" Get the joint limits ");
53  std::cout << "Not implemented ! " << std::endl;
54 }
55 
58 
60 vpRobotTemplate::~vpRobotTemplate() { std::cout << "Not implemented ! " << std::endl; }
61 
62 /*
63 
64 AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED
65 
66 get_eJe
67 get_fJe
68 
69 */
70 
72 void vpRobotTemplate::get_eJe(vpMatrix & /* _eJe */) { std::cout << "Not implemented ! " << std::endl; }
73 
75 void vpRobotTemplate::get_fJe(vpMatrix & /* _fJe */) { std::cout << "Not implemented ! " << std::endl; }
76 
77 /*
78 
79 AT LEAST ONE OF THESE TWO FUNCTIONS HAS TO BE IMPLEMENTED
80 
81 sendCameraVelocity
82 sendArticularVelocity
83 
84 
85 */
88 {
89  std::cout << "Not implemented ! " << std::endl;
90  std::cout << "To implement me you need : " << std::endl;
91  std::cout << "\t to known the robot jacobian expressed in ";
92  std::cout << "the end-effector frame (eJe) " << std::endl;
93  std::cout << "\t the frame transformation between camera frame ";
94  std::cout << "and end-effector frame (cMe)" << std::endl;
95 }
96 
99 {
100  std::cout << "Not implemented ! " << std::endl;
101 }
103 void vpRobotTemplate::setVelocity(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* vel */)
104 {
105  std::cout << "Not implemented ! " << std::endl;
106 }
107 
108 /*
109 
110 THESE FUNCTIONS ARE NOT MENDATORY BUT ARE USUALLY USEFUL
111 
112 */
113 
115 void vpRobotTemplate::getPosition(vpPoseVector & /* q */) { std::cout << "Not implemented ! " << std::endl; }
117 void vpRobotTemplate::getArticularPosition(vpColVector & /* q */) { std::cout << "Not implemented ! " << std::endl; }
120 {
121  std::cout << "Not implemented ! " << std::endl;
122 }
125 {
126  std::cout << "Not implemented ! " << std::endl;
127 }
130 {
131  std::cout << "Not implemented ! " << std::endl;
132 }
133 
134 /*
135  * Local variables:
136  * c-basic-offset: 2
137  * End:
138  */
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
void sendCameraVelocity(const vpColVector &v)
send to the controller a velocity expressed in the camera frame
void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)
get a displacement (frame as to be specified)
virtual ~vpRobotTemplate()
destructor
void get_eJe(vpMatrix &_eJe)
get the robot Jacobian expressed in the end-effector frame
vpControlFrameType
Definition: vpRobot.h:75
void init()
basic initialization
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)
set a displacement (frame as to be specified)
#define vpTRACE
Definition: vpDebug.h:416
vpRobotTemplate()
constructor
void getPosition(vpPoseVector &q)
get a position expressed in the robot reference frame
void get_fJe(vpMatrix &_fJe)
get the robot Jacobian expressed in the robot reference frame
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void sendArticularVelocity(const vpColVector &qdot)
send to the controller a velocity expressed in the articular frame
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151
void getArticularPosition(vpColVector &q)
get a position expressed in the articular frame
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
send to the controller a velocity (frame as to be specified)