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Visual Servoing Platform
version 3.2.0
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39 #ifndef vpSimulatorAfma6_HH
40 #define vpSimulatorAfma6_HH
47 #include <visp3/robot/vpAfma6.h>
48 #include <visp3/robot/vpRobotWireFrameSimulator.h>
52 #if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD))
181 static const double defaultPositioningVelocity;
185 bool first_time_getdis;
187 double positioningVelocity;
208 double getPositioningVelocity(
void) {
return positioningVelocity; }
225 void move(
const char *filename);
227 static bool readPosFile(
const std::string &filename,
vpColVector &q);
228 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
234 const double pos4,
const double pos5,
const double pos6);
236 void setPositioningVelocity(
const double vel) { positioningVelocity = vel; }
254 #if defined(WINRT_8_1)
255 WaitForSingleObjectEx(mutex_fMi, INFINITE, FALSE);
257 WaitForSingleObject(mutex_fMi, INFINITE);
259 for (
int i = 0; i < 8; i++)
261 ReleaseMutex(mutex_fMi);
262 #elif defined(VISP_HAVE_PTHREAD)
263 pthread_mutex_lock(&mutex_fMi);
264 for (
int i = 0; i < 8; i++)
266 pthread_mutex_unlock(&mutex_fMi);
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
Generic class defining intrinsic camera parameters.
This class aims to be a basis used to create all the simulators of robots.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void initArms()=0
void getExternalImage(vpImage< unsigned char > &I)
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
vpCameraParametersProjType
virtual int isInJointLimit()=0
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.
Simulator of Irisa's gantry robot named Afma6.
virtual void updateArticularPosition()=0
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
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
virtual void computeArticularVelocity()=0
virtual void get_fMi(vpHomogeneousMatrix *fMit)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.