Visual Servoing Platform version 3.5.0
vpSimulatorCamera.h
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3 * ViSP, open source Visual Servoing Platform software.
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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30 *
31 * Description:
32 * Defines the simplest robot : a free flying camera.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpSimulatorCamera_H
40#define vpSimulatorCamera_H
41
47#include <visp3/core/vpColVector.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpMatrix.h>
50#include <visp3/robot/vpRobot.h>
51#include <visp3/robot/vpRobotSimulator.h>
52
107class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
108{
109protected:
110 vpHomogeneousMatrix wMc_; // world to camera
111
112public:
114 virtual ~vpSimulatorCamera();
115
116public:
119 void get_cVe(vpVelocityTwistMatrix &cVe) const;
120 void get_eJe(vpMatrix &eJe);
121
123 void getPosition(vpHomogeneousMatrix &wMc) const;
125 void setPosition(const vpHomogeneousMatrix &wMc);
126 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
128
129private:
130 void init();
131
132 // Non implemented virtual pure functions
133 void get_fJe(vpMatrix & /*_fJe */){};
134 void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
135 void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
136};
137
138#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
This class aims to be a basis used to create all the robot simulators.
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
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 init()=0
virtual void get_fJe(vpMatrix &_fJe)=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_