Visual Servoing Platform  version 3.6.1 under development (2024-06-12)
vpSimulatorCamera.h
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2  * ViSP, open source Visual Servoing Platform software.
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19  * Inria Rennes - Bretagne Atlantique
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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 
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 
104 class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
105 {
106 protected:
107  vpHomogeneousMatrix wMc_; // world to camera
108 
109 public:
111 
112 public:
115  void get_cVe(vpVelocityTwistMatrix &cVe) const;
116  void get_eJe(vpMatrix &eJe) vp_override;
117 
119  void getPosition(vpHomogeneousMatrix &wMc) const;
120  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
121  void setPosition(const vpHomogeneousMatrix &wMc);
122  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
124 
125 private:
126  void init() vp_override;
127 
128  // Non implemented virtual pure functions
129  void get_fJe(vpMatrix & /*_fJe */) vp_override { };
130  void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) vp_override { };
131  void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) vp_override { };
132 };
134 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
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_