Visual Servoing Platform  version 3.6.1 under development (2024-11-21)
vpSimulatorCamera.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Defines the simplest robot : a free flying camera.
32  */
33 
39 #ifndef vpSimulatorCamera_H
40 #define vpSimulatorCamera_H
41 
42 #include <visp3/core/vpColVector.h>
43 #include <visp3/core/vpConfig.h>
44 #include <visp3/core/vpHomogeneousMatrix.h>
45 #include <visp3/core/vpMatrix.h>
46 #include <visp3/robot/vpRobot.h>
47 #include <visp3/robot/vpRobotSimulator.h>
48 
49 BEGIN_VISP_NAMESPACE
108 class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
109 {
110 protected:
111  vpHomogeneousMatrix wMc_; // world to camera
112 
113 public:
115 
116 public:
119  void get_cVe(vpVelocityTwistMatrix &cVe) const;
120  void get_eJe(vpMatrix &eJe) VP_OVERRIDE;
121 
123  void getPosition(vpHomogeneousMatrix &wMc) const;
124  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE;
125  void setPosition(const vpHomogeneousMatrix &wMc);
126  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE;
128 
129 private:
130  void init() VP_OVERRIDE;
131 
132  // Non implemented virtual pure functions
133  void get_fJe(vpMatrix & /*_fJe */) VP_OVERRIDE { };
134  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) VP_OVERRIDE { };
135  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) VP_OVERRIDE { };
136 };
137 END_VISP_NAMESPACE
138 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:169
This class aims to be a basis used to create all the robot simulators.
vpControlFrameType
Definition: vpRobot.h:77
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 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.
Class that defines the simplest robot: a free flying camera.
vpHomogeneousMatrix wMc_