36 #ifndef _vpVirtuose_h_
37 #define _vpVirtuose_h_
40 #include <visp3/core/vpConfig.h>
41 #include <visp3/core/vpException.h>
42 #include <visp3/core/vpPoseVector.h>
44 #ifdef VISP_HAVE_VIRTUOSE
46 #include <VirtuoseAPI.h>
148 void enableForceFeedback(
int enable);
154 VirtCommandType getCommandType()
const;
155 bool getDeadMan()
const;
156 bool getEmergencyStop()
const;
157 unsigned int getJointsNumber()
const;
159 VirtContext getHandler();
164 bool getPower()
const;
169 void setArticularForce(
const vpColVector &articularForce);
170 void setArticularPosition(
const vpColVector &articularPosition);
171 void setArticularVelocity(
const vpColVector &articularVelocity);
173 void setCommandType(
const VirtCommandType &type);
175 void setForceFactor(
const float &forceFactor);
176 void setIndexingMode(
const VirtIndexingType &type);
177 void setIpAddressAndPort(
const std::string &ip,
int port);
180 void setPeriodicFunction(VirtPeriodicFunction CallBackVirt);
184 void setSaturation(
const float &forceLimit,
const float &torqueLimit);
185 void setTimeStep(
const float &timeStep);
187 void setVelocityFactor(
const float &velocityFactor);
194 void startPeriodicFunction();
195 void stopPeriodicFunction();
197 #ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
210 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