Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpRobotTemplate.h
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29  *
30  * Description:
31  * Defines a robot just to show which function you must implement.
32  */
33 
34 #ifndef vpRobotTemplate_h
35 #define vpRobotTemplate_h
36 
42 #include <visp3/core/vpConfig.h>
43 
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/robot/vpRobot.h>
46 
52 class VISP_EXPORT vpRobotTemplate : public vpRobot
53 {
54 public:
56  virtual ~vpRobotTemplate() vp_override;
57 
58  void get_eJe(vpMatrix &eJe_) vp_override;
59  void get_fJe(vpMatrix &fJe_) vp_override;
60 
65  vpHomogeneousMatrix get_eMc() const { return m_eMc; }
66 
67  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
68  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
69 
74  void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
75  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) vp_override;
76  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
77 
78 protected:
79  void init() vp_override;
80  void getJointPosition(vpColVector &q);
81  void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
82  void setJointVelocity(const vpColVector &qdot);
83 
84 protected:
86 };
87 
88 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
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:57
vpControlFrameType
Definition: vpRobot.h:75
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.