47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/core/vpPoseVector.h>
66 STATE_VELOCITY_CONTROL,
67 STATE_POSITION_CONTROL,
68 STATE_ACCELERATION_CONTROL,
69 STATE_FORCE_TORQUE_CONTROL
80 JOINT_STATE = ARTICULAR_FRAME,
84 TOOL_FRAME = CAMERA_FRAME,
96 double maxTranslationVelocity;
97 static const double maxTranslationVelocityDefault;
98 double maxRotationVelocity;
99 static const double maxRotationVelocityDefault;
112 int areJointLimitsAvailable;
128 virtual void get_eJe(
vpMatrix &_eJe) = 0;
131 virtual void get_fJe(
vpMatrix &_fJe) = 0;
137 double getMaxTranslationVelocity(
void)
const;
138 double getMaxRotationVelocity(
void)
const;
146 virtual void init() = 0;
150 void setMaxRotationVelocity(
double maxVr);
151 void setMaxTranslationVelocity(
double maxVt);
159 inline void setVerbose(
bool verbose) { verbose_ = verbose; };