46 #include <visp3/core/vpDebug.h>
47 #include <visp3/core/vpExponentialMap.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/robot/vpRobotException.h>
50 #include <visp3/robot/vpSimulatorPioneer.h>
65 void vpSimulatorPioneer::init()
148 "functionality not implemented");
152 "functionality not implemented");
155 "functionality not implemented");
160 "functionality not implemented");
201 std::cout <<
"ARTICULAR_FRAME is not implemented in "
202 "vpSimulatorPioneer::getPosition()"
213 for (
unsigned int i = 0; i < 3; i++) {
214 q[i] = this->
wMc_[i][3];
221 std::cout <<
"MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
224 std::cout <<
"END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
unsigned int size() const
Return the number of elements of the 2D array.
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
@ dimensionError
Bad dimension.
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
void extract(vpRotationMatrix &R) const
Implementation of a matrix and operations on matrices.
Error that can be emited by the vpRobot class and its derivates.
int nDof
number of degrees of freedom
virtual vpRobotStateType getRobotState(void) const
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
int areJointLimitsAvailable
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
double getMaxRotationVelocity(void) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
double getMaxTranslationVelocity(void) const
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void getPosition(vpHomogeneousMatrix &wMc) const
virtual ~vpSimulatorPioneer()
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Class that consider the case of a translation vector.