Visual Servoing Platform  version 3.2.1 under development (2019-07-16)
vpRobotTemplate.h
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30  *
31  * Description:
32  * Defines a robot just to show which function you must implement.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpRobotTemplate_H
40 #define vpRobotTemplate_H
41 
48 #include <visp3/robot/vpRobot.h>
49 
57 class VISP_EXPORT vpRobotTemplate : public vpRobot
58 {
59 
60 public:
62  void init();
63 
67  virtual ~vpRobotTemplate();
68 
70  void get_eJe(vpMatrix &_eJe);
72  void get_fJe(vpMatrix &_fJe);
73 
75  void sendCameraVelocity(const vpColVector &v);
77  void sendArticularVelocity(const vpColVector &qdot);
79  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
80 
82  void getPosition(vpPoseVector &q);
84  void getArticularPosition(vpColVector &q);
88  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
89 
92 };
93 
94 #endif
95 
96 /*
97  * Local variables:
98  * c-basic-offset: 2
99  * End:
100  */
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
class that defines a robot just to show which function you must implement
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Class that defines a generic virtual robot.
Definition: vpRobot.h:58
vpControlFrameType
Definition: vpRobot.h:75
virtual void init()=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0