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Visual Servoing Platform
version 3.3.0
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47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/core/vpPoseVector.h>
69 STATE_FORCE_TORQUE_CONTROL
80 JOINT_STATE = ARTICULAR_FRAME,
84 TOOL_FRAME = CAMERA_FRAME,
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; };
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
double maxTranslationVelocity
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
@ STATE_POSITION_CONTROL
Initialize the position controller.
virtual vpRobotStateType getRobotState(void) const
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
double maxRotationVelocity
@ STATE_ACCELERATION_CONTROL
Initialize the acceleration controller.
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available
static const double maxRotationVelocityDefault
vpControlFrameType getRobotFrame(void) const
void setVerbose(bool verbose)
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
static const double maxTranslationVelocityDefault
int nDof
number of degrees of freedom
Class that defines a generic virtual robot.
int areJointLimitsAvailable