34 #ifndef vpSimulatorAfma6_HH
35 #define vpSimulatorAfma6_HH
42 #include <visp3/robot/vpAfma6.h>
43 #include <visp3/robot/vpRobotWireFrameSimulator.h>
47 #if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD))
177 bool first_time_getdis;
179 double positioningVelocity;
217 void move(
const char *filename);
219 static bool readPosFile(
const std::string &filename,
vpColVector &q);
220 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
226 double pos5,
double pos6);
246 for (
int i = 0; i < 8; i++) {
250 m_mutex_fMi.unlock();
252 void init()
override;
Modelization of Irisa's gantry robot named Afma6.
void get_cVe(vpVelocityTwistMatrix &cVe) const
void get_cMe(vpHomogeneousMatrix &cMe) const
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
Generic class defining intrinsic camera parameters.
vpCameraParametersProjType
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Implementation of a pose vector and operations on poses.
This class aims to be a basis used to create all the simulators of robots.
virtual void computeArticularVelocity()=0
virtual int isInJointLimit()=0
virtual void initArms()=0
virtual void updateArticularPosition()=0
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 vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
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.
Simulator of Irisa's gantry robot named Afma6.
void get_fMi(vpHomogeneousMatrix *fMit) override
void setPositioningVelocity(double vel)
static const double defaultPositioningVelocity
double getPositioningVelocity(void)
void getExternalImage(vpImage< unsigned char > &I)