Visual Servoing Platform version 3.5.0
vpVirtuose.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description: Class which enables to project an image in the 3D space
32 * and get the view of a virtual camera.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef _vpVirtuose_h_
40#define _vpVirtuose_h_
41
42#include <ostream>
43#include <visp3/core/vpConfig.h>
44#include <visp3/core/vpException.h>
45#include <visp3/core/vpPoseVector.h>
46
47#ifdef VISP_HAVE_VIRTUOSE
48
49#include <VirtuoseAPI.h>
50
143class VISP_EXPORT vpVirtuose
144{
145public:
146 vpVirtuose();
147 virtual ~vpVirtuose();
148
149 void addForce(vpColVector &force);
150 void close();
151 void enableForceFeedback(int enable);
152
153 vpColVector getArticularPosition() const;
154 vpColVector getArticularVelocity() const;
155 vpPoseVector getAvatarPosition() const;
156 vpPoseVector getBaseFrame() const;
157 VirtCommandType getCommandType() const;
158 bool getDeadMan() const;
159 bool getEmergencyStop() const;
160 unsigned int getJointsNumber() const;
161 vpColVector getForce() const;
162 VirtContext getHandler();
163 vpPoseVector getObservationFrame() const;
164 vpPoseVector getPhysicalPosition() const;
165 vpColVector getPhysicalVelocity() const;
166 vpPoseVector getPosition() const;
167 bool getPower() const;
168 vpColVector getVelocity() const;
169
170 void init();
171
172 void setArticularForce(const vpColVector &articularForce);
173 void setArticularPosition(const vpColVector &articularPosition);
174 void setArticularVelocity(const vpColVector &articularVelocity);
175 void setBaseFrame(const vpPoseVector &position);
176 void setCommandType(const VirtCommandType &type);
177 void setForce(const vpColVector &force);
178 void setForceFactor(const float &forceFactor);
179 void setIndexingMode(const VirtIndexingType &type);
180 void setIpAddressAndPort(const std::string &ip, int port);
181
182 void setObservationFrame(const vpPoseVector &position);
183 void setPeriodicFunction(VirtPeriodicFunction CallBackVirt);
184 void setPosition(vpPoseVector &position);
185 void setPowerOff();
186 void setPowerOn();
187 void setSaturation(const float &forceLimit, const float &torqueLimit);
188 void setTimeStep(const float &timeStep);
189 void setVelocity(vpColVector &velocity);
190 void setVelocityFactor(const float &velocityFactor);
195 void setVerbose(bool mode) { m_verbose = mode; }
196
197 void startPeriodicFunction();
198 void stopPeriodicFunction();
199
200#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
213 vp_deprecated inline void setIpAddress(const std::string &ip_port) { m_ip_port = ip_port; }
215#endif
216
217protected:
218 VirtContext m_virtContext;
219 std::string m_ip_port;
225 VirtCommandType m_typeCommand;
226 VirtIndexingType m_indexType;
228 float m_period;
229 unsigned int m_njoints;
230};
231
232#endif
233#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
bool m_verbose
Definition: vpVirtuose.h:220
int m_apiMajorVersion
Definition: vpVirtuose.h:221
int m_ctrlMinorVersion
Definition: vpVirtuose.h:224
vp_deprecated void setIpAddress(const std::string &ip_port)
Definition: vpVirtuose.h:213
unsigned int m_njoints
Definition: vpVirtuose.h:229
float m_period
Definition: vpVirtuose.h:228
bool m_is_init
Definition: vpVirtuose.h:227
std::string m_ip_port
Definition: vpVirtuose.h:219
VirtContext m_virtContext
Definition: vpVirtuose.h:218
int m_ctrlMajorVersion
Definition: vpVirtuose.h:223
void setVerbose(bool mode)
Definition: vpVirtuose.h:195
int m_apiMinorVersion
Definition: vpVirtuose.h:222
VirtCommandType m_typeCommand
Definition: vpVirtuose.h:225
VirtIndexingType m_indexType
Definition: vpVirtuose.h:226