Visual Servoing Platform version 3.6.0
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vpRobotTemplate.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
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17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Defines a robot just to show which function you must implement.
33 *
34*****************************************************************************/
35
36#ifndef vpRobotTemplate_h
37#define vpRobotTemplate_h
38
44#include <visp3/core/vpConfig.h>
45
46#include <visp3/core/vpHomogeneousMatrix.h>
47#include <visp3/robot/vpRobot.h>
48
56class VISP_EXPORT vpRobotTemplate : public vpRobot
57{
58public:
60 virtual ~vpRobotTemplate();
61
62 void get_eJe(vpMatrix &eJe_);
63 void get_fJe(vpMatrix &fJe_);
64
69 vpHomogeneousMatrix get_eMc() const { return m_eMc; }
70
73
78 void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
79 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
80 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
81
82protected:
83 void init();
84 void getJointPosition(vpColVector &q);
85 void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
86 void setJointVelocity(const vpColVector &qdot);
87
88protected:
90};
91
92#endif
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Class that defines a robot just to show which function you must implement.
void set_eMc(vpHomogeneousMatrix &eMc)
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
vpHomogeneousMatrix get_eMc() const
Class that defines a generic virtual robot.
Definition vpRobot.h:57
vpControlFrameType
Definition vpRobot.h:73
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.