53 #include <visp/vpMatrix.h>
54 #include <visp/vpVelocityTwistMatrix.h>
55 #include <visp/vpBasicFeature.h>
56 #include <visp/vpServoException.h>
58 #include <visp/vpList.h>
59 #include <visp/vpAdaptiveGain.h>
175 } vpServoIteractionMatrixType;
181 } vpServoInversionType;
199 vpServo(vpServoType _servoType) ;
228 void setServo(vpServoType _servo_type) ;
243 void setInteractionMatrixType(
const vpServoIteractionMatrixType &interactionMatrixType,
244 const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE) ;
253 void setLambda(
double _lambda) { lambda .initFromConstant (_lambda) ; }
255 const double at_infinity,
256 const double deriv_at_zero)
257 { lambda .initStandard (at_zero, at_infinity, deriv_at_zero) ; }
268 vpMatrix computeInteractionMatrix() ;
276 bool testInitialization() ;
288 unsigned int getDimension() ;
423 std::ostream &os = std::cout) ;