45 #include <visp3/core/vpHomogeneousMatrix.h> 46 #include <visp3/robot/vpSimulatorPioneer.h> 47 #include <visp3/robot/vpRobotException.h> 48 #include <visp3/core/vpDebug.h> 49 #include <visp3/core/vpExponentialMap.h> 57 : wMc_(), wMe_(), xm_(0), ym_(0), theta_(0)
69 void vpSimulatorPioneer::init()
137 "Bad dimension of the control vector");
161 "functionality not implemented");
163 "Cannot set a velocity in the camera frame:" 164 "functionality not implemented");
167 vpERROR_TRACE (
"Cannot set a velocity in the reference frame: " 168 "functionality not implemented");
170 "Cannot set a velocity in the articular frame:" 171 "functionality not implemented");
174 "functionality not implemented");
176 "Cannot set a velocity in the mixt frame:" 177 "functionality not implemented");
221 std::cout <<
"ARTICULAR_FRAME is not implemented in vpSimulatorPioneer::getPosition()" << std::endl;
231 for (
unsigned int i=0; i < 3; i++) {
232 q[i] = this->
wMc_[i][3];
239 std::cout <<
"MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
Implementation of a matrix and operations on matrices.
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Error that can be emited by the vpRobot class and its derivates.
void getPosition(vpHomogeneousMatrix &wMc) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
double getMaxTranslationVelocity(void) const
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
vpHomogeneousMatrix inverse() const
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
unsigned int size() const
Return the number of elements of the 2D array.
double getMaxRotationVelocity(void) const
void extract(vpRotationMatrix &R) const
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Implementation of a rotation matrix and operations on such kind of matrices.
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Initialize the velocity controller.
virtual vpRobotStateType getRobotState(void) const
virtual ~vpSimulatorPioneer()
int areJointLimitsAvailable
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
int nDof
number of degrees of freedom
Implementation of column vector and the associated operations.
Implementation of a rotation vector as Euler angle minimal representation.
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Class that consider the case of a translation vector.
void resize(const unsigned int i, const bool flagNullify=true)