42 #ifndef vpSimulatorAfma6_HH
43 #define vpSimulatorAfma6_HH
50 #include <visp/vpRobotWireFrameSimulator.h>
51 #include <visp/vpAfma6.h>
55 #if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
184 bool first_time_getdis;
186 double positioningVelocity;
200 const unsigned int &image_width,
201 const unsigned int &image_height);
223 void move(
const char *filename) ;
225 static bool readPosFile(
const char *filename,
vpColVector &q);
226 static bool savePosFile(
const char *filename,
const vpColVector &q);
255 WaitForSingleObject(mutex_fMi,INFINITE);
256 for (
int i = 0; i < 8; i++)
258 ReleaseMutex(mutex_fMi);
259 #elif defined(VISP_HAVE_PTHREAD)
260 pthread_mutex_lock (&mutex_fMi);
261 for (
int i = 0; i < 8; i++)
263 pthread_mutex_unlock (&mutex_fMi);
274 void getCameraDisplacement(
vpColVector &displacement);
275 void getArticularDisplacement(
vpColVector &displacement);