Visual Servoing Platform  version 3.3.1 under development (2020-10-22)
vpSimulatorCamera.h
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30  *
31  * Description:
32  * Defines the simplest robot : a free flying camera.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpSimulatorCamera_H
40 #define vpSimulatorCamera_H
41 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/robot/vpRobot.h>
51 #include <visp3/robot/vpRobotSimulator.h>
52 
107 class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
108 {
109 protected:
110  vpHomogeneousMatrix wMc_; // world to camera
111 
112 public:
114  virtual ~vpSimulatorCamera();
115 
116 public:
119  void get_cVe(vpVelocityTwistMatrix &cVe) const;
120  void get_eJe(vpMatrix &eJe);
121 
123  void getPosition(vpHomogeneousMatrix &wMc) const;
125  void setPosition(const vpHomogeneousMatrix &wMc);
126  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
128 
129 private:
130  void init();
131 
132  // Non implemented virtual pure functions
133  void get_fJe(vpMatrix & /*_fJe */){};
134  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
135  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
136 };
137 
138 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
vpControlFrameType
Definition: vpRobot.h:75
vpHomogeneousMatrix wMc_
This class aims to be a basis used to create all the robot simulators.
virtual void init()=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0