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Visual Servoing Platform
version 3.3.0
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39 #ifndef vpSimulatorViper850_HH
40 #define vpSimulatorViper850_HH
47 #include <visp3/robot/vpRobotWireFrameSimulator.h>
48 #if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD))
52 #include <visp3/robot/vpViper850.h>
209 bool first_time_getdis;
211 double positioningVelocity;
252 void move(
const char *filename);
254 static bool readPosFile(
const std::string &filename,
vpColVector &q);
255 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
261 double pos4,
double pos5,
double pos6);
281 #if defined(WINRT_8_1)
282 WaitForSingleObjectEx(mutex_fMi, INFINITE, FALSE);
284 WaitForSingleObject(mutex_fMi, INFINITE);
286 for (
int i = 0; i < 8; i++)
288 ReleaseMutex(mutex_fMi);
289 #elif defined(VISP_HAVE_PTHREAD)
290 pthread_mutex_lock(&mutex_fMi);
291 for (
int i = 0; i < 8; i++)
293 pthread_mutex_unlock(&mutex_fMi);
void get_fMi(vpHomogeneousMatrix *fMit)
static const double defaultPositioningVelocity
Modelisation of the ADEPT Viper 850 robot.
virtual void get_fJe(vpMatrix &_fJe)=0
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.
@ perspectiveProjWithoutDistortion
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)
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
vpCameraParametersProjType
virtual int isInJointLimit()=0
Implementation of column vector and the associated operations.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Implementation of a matrix and operations on matrices.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void get_cMe(vpHomogeneousMatrix &cMe) const
virtual void updateArticularPosition()=0
Implementation of a pose vector and operations on poses.
void setPositioningVelocity(double vel)
Simulator of Irisa's Viper S850 robot named Viper850.
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void computeArticularVelocity()=0
double getPositioningVelocity(void)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_cVe(vpVelocityTwistMatrix &cVe) const
vpToolType
List of possible tools that can be attached to the robot end-effector.