38 #ifndef vpSimulatorViper850_HH 39 #define vpSimulatorViper850_HH 46 #include <visp3/robot/vpRobotWireFrameSimulator.h> 47 #if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD)) 51 #include <visp3/robot/vpViper850.h> 209 bool first_time_getdis;
211 double positioningVelocity;
225 const unsigned int &image_width,
226 const unsigned int &image_height);
254 void move(
const char *filename) ;
256 static bool readPosFile(
const std::string &filename,
vpColVector &q);
257 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
287 # if defined(WINRT_8_1) 288 WaitForSingleObjectEx(mutex_fMi, INFINITE, FALSE);
290 WaitForSingleObject(mutex_fMi, INFINITE);
292 for (
int i = 0; i < 8; i++)
294 ReleaseMutex(mutex_fMi);
295 #elif defined(VISP_HAVE_PTHREAD) 296 pthread_mutex_lock (&mutex_fMi);
297 for (
int i = 0; i < 8; i++)
299 pthread_mutex_unlock (&mutex_fMi);
311 void getArticularDisplacement(
vpColVector &displacement);
312 void getCameraDisplacement(
vpColVector &displacement);
Implementation of a matrix and operations on matrices.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
void get_fMi(vpHomogeneousMatrix *fMit)
Perspective projection without distortion model.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void initArms()=0
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
virtual int isInJointLimit()=0
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void updateArticularPosition()=0
vpCameraParametersProjType
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpToolType
List of possible tools that can be attached to the robot end-effector.
virtual void computeArticularVelocity()=0
Generic class defining intrinsic camera parameters.
virtual void get_fJe(vpMatrix &_fJe)=0
Get the robot Jacobian expressed in the robot reference (or world) frame.
Modelisation of the ADEPT Viper 850 robot.
void get_cMe(vpHomogeneousMatrix &cMe) const
Implementation of a velocity twist matrix and operations on such kind of matrices.
void getExternalImage(vpImage< unsigned char > &I)
void setPositioningVelocity(const double vel)
This class aims to be a basis used to create all the simulators of robots.
Simulator of Irisa's Viper S850 robot named Viper850.
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.
void get_cVe(vpVelocityTwistMatrix &cVe) const
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Set the velocity (frame has to be specified) that will be applied to the velocity controller...
static const double defaultPositioningVelocity
double getPositioningVelocity(void)