44 #include <visp3/core/vpDebug.h>
45 #include <visp3/core/vpExponentialMap.h>
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/robot/vpRobotException.h>
48 #include <visp3/robot/vpSimulatorCamera.h>
64 void vpSimulatorCamera::init()
160 for (
unsigned int i = 0; i < 3; i++) {
161 q[i] = this->
wMc_[i][3];
168 std::cout <<
"MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
171 std::cout <<
"END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
209 for (
unsigned int i = 0; i < 3; i++)
211 for (
unsigned int i = 3; i < 6; i++)
222 "functionality not implemented");
226 "functionality not implemented");
231 "functionality not implemented");
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static double rad(double deg)
Implementation of a matrix and operations on matrices.
Error that can be emited by the vpRobot class and its derivates.
int nDof
number of degrees of freedom
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
virtual vpRobotStateType getRobotState(void) const
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
int areJointLimitsAvailable
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.
double getMaxRotationVelocity(void) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
double getMaxTranslationVelocity(void) const
void setMaxRotationVelocity(double maxVr)
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
void setMaxTranslationVelocity(double maxVt)
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void get_eJe(vpMatrix &eJe)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setPosition(const vpHomogeneousMatrix &wMc)
vpHomogeneousMatrix getPosition() const
void get_cVe(vpVelocityTwistMatrix &cVe) const
virtual ~vpSimulatorCamera()