Visual Servoing Platform  version 3.6.1 under development (2024-03-04)
vpSimulatorCamera.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
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5  * This software is free software; you can redistribute it and/or modify
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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
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
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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 
34 #ifndef vpSimulatorCamera_H
35 #define vpSimulatorCamera_H
36 
42 #include <visp3/core/vpColVector.h>
43 #include <visp3/core/vpHomogeneousMatrix.h>
44 #include <visp3/core/vpMatrix.h>
45 #include <visp3/robot/vpRobot.h>
46 #include <visp3/robot/vpRobotSimulator.h>
47 
102 class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
103 {
104 protected:
105  vpHomogeneousMatrix wMc_; // world to camera
106 
107 public:
109 
110 public:
113  void get_cVe(vpVelocityTwistMatrix &cVe) const;
114  void get_eJe(vpMatrix &eJe) vp_override;
115 
117  void getPosition(vpHomogeneousMatrix &wMc) const;
118  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
119  void setPosition(const vpHomogeneousMatrix &wMc);
120  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
122 
123 private:
124  void init() vp_override;
125 
126  // Non implemented virtual pure functions
127  void get_fJe(vpMatrix & /*_fJe */) vp_override { };
128  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) vp_override { };
129  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) vp_override { };
130 };
131 
132 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
This class aims to be a basis used to create all the robot simulators.
vpControlFrameType
Definition: vpRobot.h:75
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_