Visual Servoing Platform  version 3.3.1 under development (2020-09-18)
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  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpRobotTemplate_h
41 #define vpRobotTemplate_h
42 
48 #include <visp3/core/vpConfig.h>
49 
50 
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/robot/vpRobot.h>
53 
61 class VISP_EXPORT vpRobotTemplate : public vpRobot
62 {
63 public:
65  virtual ~vpRobotTemplate();
66 
67  void get_eJe(vpMatrix &eJe_);
68  void get_fJe(vpMatrix &fJe_);
69 
74  vpHomogeneousMatrix get_eMc() const { return m_eMc; }
75 
78 
83  void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
84  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
85  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
86 
87 protected:
88  void init();
89  void getJointPosition(vpColVector &q);
90  void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
91  void setJointVelocity(const vpColVector &qdot);
92 
93 protected:
95 };
96 
97 #endif
98 
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
Class that defines a robot just to show which function you must implement.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix get_eMc() const
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
void set_eMc(vpHomogeneousMatrix &eMc)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.