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Visual Servoing Platform
version 3.2.0
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39 #ifndef vpRobotAfma6_h
40 #define vpRobotAfma6_h
42 #include <visp3/core/vpConfig.h>
44 #ifdef VISP_HAVE_AFMA6
49 #include <visp3/core/vpColVector.h>
50 #include <visp3/core/vpDebug.h>
51 #include <visp3/core/vpPoseVector.h>
52 #include <visp3/robot/vpAfma6.h>
53 #include <visp3/robot/vpRobot.h>
57 #include "irisa_Afma6.h"
231 static bool robotAlreadyCreated;
233 double positioningVelocity;
238 double time_prev_getvel;
239 bool first_time_getvel;
244 bool first_time_getdis;
253 static const double defaultPositioningVelocity;
270 double getPositioningVelocity(
void);
271 bool getPowerState();
272 double getTime()
const;
292 void move(
const std::string &filename);
293 void move(
const std::string &filename,
const double velocity);
300 static bool readPosFile(
const std::string &filename,
vpColVector &q);
301 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
307 const double pos4,
const double pos5,
const double pos6);
309 void setPositioningVelocity(
const double velocity);
void get_cVe(vpVelocityTwistMatrix &cVe) const
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
Control of Irisa's gantry robot named Afma6.
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
vpCameraParametersProjType
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Modelisation of Irisa's gantry robot named Afma6.
Implementation of a pose vector and operations on poses.
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
void get_cMe(vpHomogeneousMatrix &cMe) const
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines a generic virtual robot.
virtual void set_eMc(const vpHomogeneousMatrix &eMc)