Visual Servoing Platform  version 3.6.0 under development (2023-09-27)
vpSimulatorCamera.h
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31  * Description:
32  * Defines the simplest robot : a free flying camera.
33  *
34 *****************************************************************************/
35 
36 #ifndef vpSimulatorCamera_H
37 #define vpSimulatorCamera_H
38 
44 #include <visp3/core/vpColVector.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpMatrix.h>
47 #include <visp3/robot/vpRobot.h>
48 #include <visp3/robot/vpRobotSimulator.h>
49 
104 class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
105 {
106 protected:
107  vpHomogeneousMatrix wMc_; // world to camera
108 
109 public:
111  virtual ~vpSimulatorCamera();
112 
113 public:
116  void get_cVe(vpVelocityTwistMatrix &cVe) const;
117  void get_eJe(vpMatrix &eJe);
118 
120  void getPosition(vpHomogeneousMatrix &wMc) const;
122  void setPosition(const vpHomogeneousMatrix &wMc);
123  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
125 
126 private:
127  void init();
128 
129  // Non implemented virtual pure functions
130  void get_fJe(vpMatrix & /*_fJe */){};
131  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
132  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
133 };
134 
135 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152
This class aims to be a basis used to create all the robot simulators.
vpControlFrameType
Definition: vpRobot.h:73
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 get_fJe(vpMatrix &_fJe)=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_