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vpRobotCamera.h
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/****************************************************************************
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*
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* $Id: vpRobotCamera.h 2456 2010-01-07 10:33:12Z nmelchio $
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*
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* This file is part of the ViSP software.
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* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
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*
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* This software is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* ("GPL") version 2 as published by the Free Software Foundation.
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* See the file LICENSE.txt at the root directory of this source
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* distribution for additional information about the GNU GPL.
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*
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* For using ViSP with software that can not be combined with the GNU
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* GPL, please contact INRIA about acquiring a ViSP Professional
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* Edition License.
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*
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* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
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*
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* This software was developed at:
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* INRIA Rennes - Bretagne Atlantique
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* Campus Universitaire de Beaulieu
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* 35042 Rennes Cedex
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* France
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* http://www.irisa.fr/lagadic
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*
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* If you have questions regarding the use of this file, please contact
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* INRIA at visp@inria.fr
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*
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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*
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* Description:
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* Defines the simplest robot : a free flying camera.
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*
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* Authors:
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* Eric Marchand
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*
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*****************************************************************************/
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#ifndef vpRobotCamera_H
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#define vpRobotCamera_H
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#include <visp/vpColVector.h>
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#include <visp/vpHomogeneousMatrix.h>
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#include <visp/vpMatrix.h>
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#include <visp/vpRobotSimulator.h>
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class
VISP_EXPORT
vpRobotCamera
:
public
vpRobotSimulator
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{
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protected
:
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vpHomogeneousMatrix
cMw_
;
// camera to world
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public
:
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vpRobotCamera
() ;
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virtual
~
vpRobotCamera
() ;
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void
get_cVe(
vpVelocityTwistMatrix
&cVe);
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void
get_eJe
(
vpMatrix
&eJe) ;
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void
getPosition
(
vpHomogeneousMatrix
&cMw)
const
;
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void
getPosition
(
const
vpRobot::vpControlFrameType
frame,
vpColVector
&q);
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void
setPosition
(
const
vpHomogeneousMatrix
&cMw) ;
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void
setVelocity
(
const
vpRobot::vpControlFrameType
frame,
const
vpColVector
&v) ;
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private
:
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void
init
() ;
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// Non implemented virtual pure functions
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void
get_fJe
(
vpMatrix
&
/*_fJe */
) {};
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void
getDisplacement
(
const
vpRobot::vpControlFrameType
/* frame */
,
vpColVector
&
/* q */
) {};
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void
setPosition
(
const
vpRobot::vpControlFrameType
/* frame */
,
const
vpColVector
&
/* q */
) {};
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} ;
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#endif
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/*
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* Local variables:
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* c-basic-offset: 2
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* End:
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*/
src
robot
simulator-robot
vpRobotCamera.h
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