ViSP
Main Page
Related Pages
Modules
Classes
Examples
All
Classes
Functions
Variables
Enumerations
Enumerator
Friends
Groups
Pages
vpSimulatorCamera.h
1
/****************************************************************************
2
*
3
* $Id: vpSimulatorCamera.h 2456 2010-01-07 10:33:12Z nmelchio $
4
*
5
* This file is part of the ViSP software.
6
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7
*
8
* This software is free software; you can redistribute it and/or
9
* modify it under the terms of the GNU General Public License
10
* ("GPL") version 2 as published by the Free Software Foundation.
11
* See the file LICENSE.txt at the root directory of this source
12
* distribution for additional information about the GNU GPL.
13
*
14
* For using ViSP with software that can not be combined with the GNU
15
* GPL, please contact INRIA about acquiring a ViSP Professional
16
* Edition License.
17
*
18
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19
*
20
* This software was developed at:
21
* INRIA Rennes - Bretagne Atlantique
22
* Campus Universitaire de Beaulieu
23
* 35042 Rennes Cedex
24
* France
25
* http://www.irisa.fr/lagadic
26
*
27
* If you have questions regarding the use of this file, please contact
28
* INRIA at visp@inria.fr
29
*
30
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32
*
33
*
34
* Description:
35
* Defines the simplest robot : a free flying camera.
36
*
37
* Authors:
38
* Eric Marchand
39
*
40
*****************************************************************************/
41
42
43
#ifndef vpSimulatorCamera_H
44
#define vpSimulatorCamera_H
45
51
#include <visp/vpColVector.h>
52
#include <visp/vpHomogeneousMatrix.h>
53
#include <visp/vpMatrix.h>
54
#include <visp/vpRobot.h>
55
#include <visp/vpRobotSimulator.h>
56
108
class
VISP_EXPORT
vpSimulatorCamera
:
public
vpRobotSimulator
109
{
110
protected
:
111
vpHomogeneousMatrix
wMc_
;
// world to camera
112
113
public
:
114
vpSimulatorCamera
() ;
115
virtual
~
vpSimulatorCamera
() ;
116
117
public
:
118
void
get_cVe(
vpVelocityTwistMatrix
&cVe);
119
void
get_eJe
(
vpMatrix
&eJe);
120
121
void
getPosition
(
vpHomogeneousMatrix
&wMc)
const
;
122
void
getPosition
(
const
vpRobot::vpControlFrameType
frame,
vpColVector
&q);
123
void
setPosition
(
const
vpHomogeneousMatrix
&wMc);
124
void
setVelocity
(
const
vpRobot::vpControlFrameType
frame,
125
const
vpColVector
&vel) ;
126
127
private
:
128
void
init
() ;
129
130
// Non implemented virtual pure functions
131
void
get_fJe
(
vpMatrix
&
/*_fJe */
) {};
132
void
getDisplacement
(
const
vpRobot::vpControlFrameType
/* frame */
,
vpColVector
&
/* q */
) {};
133
void
setPosition
(
const
vpRobot::vpControlFrameType
/* frame */
,
const
vpColVector
&
/* q */
) {};
134
} ;
135
136
#endif
src
robot
simulator-robot
vpSimulatorCamera.h
Generated on Fri Apr 26 2013 19:54:35 for ViSP by
1.8.1.2