44 #include <visp3/core/vpColVector.h>
45 #include <visp3/core/vpConfig.h>
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/core/vpMatrix.h>
48 #include <visp3/core/vpPoseVector.h>
70 STATE_FORCE_TORQUE_CONTROL
82 JOINT_STATE = ARTICULAR_FRAME,
86 TOOL_FRAME = CAMERA_FRAME,
139 double getMaxTranslationVelocity(
void)
const;
140 double getMaxRotationVelocity(
void)
const;
161 void setMaxRotationVelocity(
double maxVr);
162 void setMaxTranslationVelocity(
double maxVt);
170 inline void setVerbose(
bool verbose) { verbose_ = verbose; };
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
Class that defines a generic virtual robot.
int nDof
number of degrees of freedom
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
void setVerbose(bool verbose)
virtual vpRobotStateType getRobotState(void) const
static const double maxRotationVelocityDefault
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
vpControlFrameType getRobotFrame(void) const
int areJointLimitsAvailable
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
@ STATE_POSITION_CONTROL
Initialize the position controller.
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
@ STATE_ACCELERATION_CONTROL
Initialize the acceleration controller.
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
static const double maxTranslationVelocityDefault
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available
virtual void get_fJe(vpMatrix &_fJe)=0
double maxTranslationVelocity
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
double maxRotationVelocity
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.