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Visual Servoing Platform
version 3.2.0
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44 #include <visp3/core/vpDebug.h>
45 #include <visp3/core/vpExponentialMap.h>
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/robot/vpRobotException.h>
48 #include <visp3/robot/vpSimulatorCamera.h>
64 void vpSimulatorCamera::init()
160 for (
unsigned int i = 0; i < 3; i++) {
161 q[i] = this->
wMc_[i][3];
168 std::cout <<
"MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
171 std::cout <<
"END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
209 for (
unsigned int i = 0; i < 3; i++)
211 for (
unsigned int i = 3; i < 6; i++)
222 "functionality not implemented");
226 "functionality not implemented");
231 "functionality not implemented");
Initialize the velocity controller.
void resize(const unsigned int i, const bool flagNullify=true)
void setMaxTranslationVelocity(const double maxVt)
void get_cVe(vpVelocityTwistMatrix &cVe) const
double getMaxTranslationVelocity(void) const
static double rad(double deg)
double getMaxRotationVelocity(void) const
Error that can be emited by the vpRobot class and its derivates.
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
void setPosition(const vpHomogeneousMatrix &wMc)
virtual ~vpSimulatorCamera()
Implementation of column vector and the associated operations.
void extract(vpRotationMatrix &R) const
Implementation of a matrix and operations on matrices.
Initialize the position controller.
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
vpHomogeneousMatrix getPosition() const
Implementation of a rotation matrix and operations on such kind of matrices.
virtual vpRobotStateType getRobotState(void) const
void setMaxRotationVelocity(const double maxVr)
void get_eJe(vpMatrix &eJe)
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
static vpHomogeneousMatrix direct(const vpColVector &v)
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
vpRxyzVector buildFrom(const vpRotationMatrix &R)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
int nDof
number of degrees of freedom
Implementation of a rotation vector as Euler angle minimal representation.
int areJointLimitsAvailable