Visual Servoing Platform version 3.5.0
vpRobotCamera.h
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Defines the simplest robot : a free flying camera.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpRobotCamera_H
40#define vpRobotCamera_H
41
47#include <visp3/core/vpConfig.h>
48
49#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
50
51#include <visp3/core/vpColVector.h>
52#include <visp3/core/vpHomogeneousMatrix.h>
53#include <visp3/core/vpMatrix.h>
54#include <visp3/robot/vpRobotSimulator.h>
55
110class VISP_EXPORT vpRobotCamera : public vpRobotSimulator
111{
112protected:
113 vpHomogeneousMatrix cMw_; // camera to world
114
115public:
117 virtual ~vpRobotCamera();
118
121 void get_cVe(vpVelocityTwistMatrix &cVe) const;
122 void get_eJe(vpMatrix &eJe);
123
124 void getPosition(vpHomogeneousMatrix &cMw) const;
126
127 void setPosition(const vpHomogeneousMatrix &cMw);
128 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
130
131private:
132 void init();
133
134 // Non implemented virtual pure functions
135 void get_fJe(vpMatrix & /*_fJe */){};
136 void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */){};
137 void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */){};
138};
139
140#endif
141#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
Class that defines the simplest robot: a free flying camera. We recommend to use vpSimulatorCamera in...
vpHomogeneousMatrix cMw_
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.