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Visual Servoing Platform
version 3.3.0
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53 #include <visp3/core/vpConfig.h>
54 #include <visp3/core/vpDebug.h>
55 #if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
59 #ifdef VISP_HAVE_PTU46
61 #include <visp3/robot/vpRobotPtu46.h>
74 vpCTRACE <<
"Set position in the articular frame: " << q.t();
79 vpCTRACE <<
"Set position in the articular frame: " << q.t();
84 vpCTRACE <<
"Position in the articular frame " << qm.t();
92 vpCTRACE <<
"Set camera frame velocity " << qdot.t() ;
101 vpCTRACE <<
"Set camera frame velocity " << qdot.t() ;
109 vpCTRACE <<
"Set articular frame velocity " << qdot.t();
117 vpCTRACE <<
"Set articular frame velocity " << qdot.t();
122 std::cout <<
"Sorry PtU46 not available. Got exception: " << e << std::endl;
130 std::cout <<
"You do not have an PTU46 PT robot connected to your computer..." << std::endl;
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
static double rad(double deg)
Interface for the Directed Perception ptu-46 pan, tilt head .
void setPosition(const vpHomogeneousMatrix &wMc)
Implementation of column vector and the associated operations.
@ STATE_POSITION_CONTROL
Initialize the position controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
vpHomogeneousMatrix getPosition() const
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
error that can be emited by ViSP classes.