38 #ifndef __vpVirtuose_h_ 39 #define __vpVirtuose_h_ 42 #include <visp3/core/vpConfig.h> 43 #include <visp3/core/vpException.h> 44 #include <visp3/core/vpPoseVector.h> 46 #ifdef VISP_HAVE_VIRTUOSE 48 #include <VirtuoseAPI.h> 140 void enableForceFeedback (
int enable);
146 VirtCommandType getCommandType()
const;
147 bool getDeadMan()
const;
148 bool getEmergencyStop()
const;
150 VirtContext getHandler();
155 bool getPower()
const;
160 void setArticularForce(
const vpColVector &articularForce);
161 void setArticularPosition(
const vpColVector &articularPosition);
162 void setArticularVelocity(
const vpColVector &articularVelocity);
164 void setCommandType(
const VirtCommandType &type);
166 void setForceFactor (
const float &forceFactor);
167 void setIndexingMode (
const VirtIndexingType &type) ;
170 void setObservationFrame (
const vpPoseVector &position);
171 void setPeriodicFunction(VirtPeriodicFunction CallBackVirt);
175 void setSaturation(
const float &forceLimit,
const float &torqueLimit);
176 void setTimeStep(
const float &timeStep);
178 void setVelocityFactor(
const float &velocityFactor);
185 void startPeriodicFunction();
186 void stopPeriodicFunction();
VirtCommandType m_typeCommand
VirtContext m_virtContext
VirtIndexingType m_indexType
void setVerbose(bool mode)
void setIpAddress(const std::string &ip)
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.