39#include <visp3/core/vpConfig.h>
41#ifndef DOXYGEN_SHOULD_SKIP_THIS
42#ifdef VISP_HAVE_BICLOPS
44#ifndef _vpRobotBiclopsController_h_
45#define _vpRobotBiclopsController_h_
60class VISP_EXPORT Biclops;
82class VISP_EXPORT vpRobotBiclopsController
88 } vpControllerStatusType;
91#ifndef DOXYGEN_SHOULD_SKIP_THIS
94 vpControllerStatusType status[2];
97 double actual_q_dot[2];
120 vpRobotBiclopsController();
121 virtual ~vpRobotBiclopsController();
122 void init(
const std::string &configfile);
123 void setPosition(
const vpColVector &q,
double percentVelocity);
129 PMDAxisControl *getPanAxis() {
return panAxis; };
130 PMDAxisControl *getTiltAxis() {
return tiltAxis; };
131 PMDAxisControl *getVergeAxis() {
return vergeAxis; };
132 void writeShm(shmType &shm);
134 bool isStopRequested() {
return stopControllerThread_; }
136 void stopRequest(
bool stop) { stopControllerThread_ = stop; }
143 PMDAxisControl *panAxis;
144 PMDAxisControl *tiltAxis;
145 PMDAxisControl *vergeAxis;
147 PMDAxisControl::Profile panProfile;
148 PMDAxisControl::Profile tiltProfile;
149 PMDAxisControl::Profile vergeProfile;
152 bool stopControllerThread_;
Implementation of column vector and the associated operations.