Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpVirtuose.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
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
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
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
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: Class which enables to project an image in the 3D space
32 * and get the view of a virtual camera.
33 *
34*****************************************************************************/
35
36#ifndef _vpVirtuose_h_
37#define _vpVirtuose_h_
38
39#include <ostream>
40#include <visp3/core/vpConfig.h>
41#include <visp3/core/vpException.h>
42#include <visp3/core/vpPoseVector.h>
43
44#ifdef VISP_HAVE_VIRTUOSE
45
46#include <VirtuoseAPI.h>
47
140class VISP_EXPORT vpVirtuose
141{
142public:
143 vpVirtuose();
144 virtual ~vpVirtuose();
145
146 void addForce(vpColVector &force);
147 void close();
148 void enableForceFeedback(int enable);
149
150 vpColVector getArticularPosition() const;
151 vpColVector getArticularVelocity() const;
152 vpPoseVector getAvatarPosition() const;
153 vpPoseVector getBaseFrame() const;
154 VirtCommandType getCommandType() const;
155 bool getDeadMan() const;
156 bool getEmergencyStop() const;
157 unsigned int getJointsNumber() const;
158 vpColVector getForce() const;
159 VirtContext getHandler();
160 vpPoseVector getObservationFrame() const;
161 vpPoseVector getPhysicalPosition() const;
162 vpColVector getPhysicalVelocity() const;
163 vpPoseVector getPosition() const;
164 bool getPower() const;
165 vpColVector getVelocity() const;
166
167 void init();
168
169 void setArticularForce(const vpColVector &articularForce);
170 void setArticularPosition(const vpColVector &articularPosition);
171 void setArticularVelocity(const vpColVector &articularVelocity);
172 void setBaseFrame(const vpPoseVector &position);
173 void setCommandType(const VirtCommandType &type);
174 void setForce(const vpColVector &force);
175 void setForceFactor(const float &forceFactor);
176 void setIndexingMode(const VirtIndexingType &type);
177 void setIpAddressAndPort(const std::string &ip, int port);
178
179 void setObservationFrame(const vpPoseVector &position);
180 void setPeriodicFunction(VirtPeriodicFunction CallBackVirt);
181 void setPosition(vpPoseVector &position);
182 void setPowerOff();
183 void setPowerOn();
184 void setSaturation(const float &forceLimit, const float &torqueLimit);
185 void setTimeStep(const float &timeStep);
186 void setVelocity(vpColVector &velocity);
187 void setVelocityFactor(const float &velocityFactor);
192 void setVerbose(bool mode) { m_verbose = mode; }
193
194 void startPeriodicFunction();
195 void stopPeriodicFunction();
196
197#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
210 vp_deprecated inline void setIpAddress(const std::string &ip_port) { m_ip_port = ip_port; }
212#endif
213
214protected:
215 VirtContext m_virtContext;
216 std::string m_ip_port;
222 VirtCommandType m_typeCommand;
223 VirtIndexingType m_indexType;
225 float m_period;
226 unsigned int m_njoints;
227};
228
229#endif
230#endif
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.
bool m_verbose
Definition vpVirtuose.h:217
int m_apiMajorVersion
Definition vpVirtuose.h:218
int m_ctrlMinorVersion
Definition vpVirtuose.h:221
vp_deprecated void setIpAddress(const std::string &ip_port)
Definition vpVirtuose.h:210
unsigned int m_njoints
Definition vpVirtuose.h:226
float m_period
Definition vpVirtuose.h:225
bool m_is_init
Definition vpVirtuose.h:224
std::string m_ip_port
Definition vpVirtuose.h:216
VirtContext m_virtContext
Definition vpVirtuose.h:215
int m_ctrlMajorVersion
Definition vpVirtuose.h:220
void setVerbose(bool mode)
Definition vpVirtuose.h:192
int m_apiMinorVersion
Definition vpVirtuose.h:219
VirtCommandType m_typeCommand
Definition vpVirtuose.h:222
VirtIndexingType m_indexType
Definition vpVirtuose.h:223