Visual Servoing Platform  version 3.6.1 under development (2024-11-07)
vpRobotTemplate.h
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2  * ViSP, open source Visual Servoing Platform software.
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29  *
30  * Description:
31  * Defines a robot just to show which function you must implement.
32  */
33 
39 #ifndef vpRobotTemplate_h
40 #define vpRobotTemplate_h
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/robot/vpRobot.h>
46 
47 BEGIN_VISP_NAMESPACE
53 class VISP_EXPORT vpRobotTemplate : public vpRobot
54 {
55 public:
57  virtual ~vpRobotTemplate() VP_OVERRIDE;
58 
59  void get_eJe(vpMatrix &eJe_) VP_OVERRIDE;
60  void get_fJe(vpMatrix &fJe_) VP_OVERRIDE;
61 
66  vpHomogeneousMatrix get_eMc() const { return m_eMc; }
67 
68  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE;
69  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE;
70 
75  void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
76  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) VP_OVERRIDE;
77  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE;
78 
79 protected:
80  void init() VP_OVERRIDE;
81  void getJointPosition(vpColVector &q);
82  void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
83  void setJointVelocity(const vpColVector &qdot);
84 
85 protected:
87 };
88 END_VISP_NAMESPACE
89 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
Class that defines a robot just to show which function you must implement.
void set_eMc(vpHomogeneousMatrix &eMc)
vpHomogeneousMatrix get_eMc() const
Class that defines a generic virtual robot.
Definition: vpRobot.h:59
vpControlFrameType
Definition: vpRobot.h:77
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 void init()=0
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.