39 #ifndef _vpVirtuose_h_
40 #define _vpVirtuose_h_
43 #include <visp3/core/vpConfig.h>
44 #include <visp3/core/vpException.h>
45 #include <visp3/core/vpPoseVector.h>
47 #ifdef VISP_HAVE_VIRTUOSE
49 #include <VirtuoseAPI.h>
151 void enableForceFeedback(
int enable);
157 VirtCommandType getCommandType()
const;
158 bool getDeadMan()
const;
159 bool getEmergencyStop()
const;
160 unsigned int getJointsNumber()
const;
162 VirtContext getHandler();
167 bool getPower()
const;
172 void setArticularForce(
const vpColVector &articularForce);
173 void setArticularPosition(
const vpColVector &articularPosition);
174 void setArticularVelocity(
const vpColVector &articularVelocity);
176 void setCommandType(
const VirtCommandType &type);
178 void setForceFactor(
const float &forceFactor);
179 void setIndexingMode(
const VirtIndexingType &type);
180 void setIpAddressAndPort(
const std::string &ip,
int port);
183 void setPeriodicFunction(VirtPeriodicFunction CallBackVirt);
187 void setSaturation(
const float &forceLimit,
const float &torqueLimit);
188 void setTimeStep(
const float &timeStep);
190 void setVelocityFactor(
const float &velocityFactor);
197 void startPeriodicFunction();
198 void stopPeriodicFunction();
200 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
213 vp_deprecated
inline void setIpAddress(
const std::string &ip_port) { m_ip_port = ip_port; }
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.
vp_deprecated void setIpAddress(const std::string &ip_port)
VirtContext m_virtContext
void setVerbose(bool mode)
VirtCommandType m_typeCommand
VirtIndexingType m_indexType