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Visual Servoing Platform
version 3.3.0
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39 #ifndef vpRobotAfma4_h
40 #define vpRobotAfma4_h
42 #include <visp3/core/vpConfig.h>
44 #ifdef VISP_HAVE_AFMA4
49 #include <visp3/core/vpColVector.h>
50 #include <visp3/core/vpDebug.h>
51 #include <visp3/robot/vpAfma4.h>
52 #include <visp3/robot/vpRobot.h>
56 #include "irisa_Afma4.h"
197 static bool robotAlreadyCreated;
199 double positioningVelocity;
204 double time_prev_getvel;
205 bool first_time_getvel;
210 bool first_time_getdis;
228 double getPositioningVelocity(
void);
229 bool getPowerState();
231 double getTime()
const;
247 void move(
const char *filename);
252 static bool readPosFile(
const std::string &filename,
vpColVector &q);
253 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
260 void setPositioningVelocity(
double velocity);
Modelisation of Irisa's cylindrical robot named Afma4.
static const double defaultPositioningVelocity
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
void get_cVe(vpVelocityTwistMatrix &cVe) const
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Control of Irisa's cylindrical robot named Afma4.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a generic virtual robot.
void get_cMe(vpHomogeneousMatrix &cMe) const