36#ifndef vpSimulatorViper850_HH
37#define vpSimulatorViper850_HH
44#include <visp3/robot/vpRobotWireFrameSimulator.h>
45#if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD))
49#include <visp3/robot/vpViper850.h>
206 bool first_time_getdis;
208 double positioningVelocity;
249 void move(
const char *filename);
251 static bool readPosFile(
const std::string &filename,
vpColVector &q);
252 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
258 double pos5,
double pos6);
278 for (
int i = 0; i < 8; i++) {
281 m_mutex_fMi.unlock();
Generic class defining intrinsic camera parameters.
vpCameraParametersProjType
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition of the vpImage class member functions.
Implementation of a matrix and operations on matrices.
Implementation of a pose vector and operations on poses.
This class aims to be a basis used to create all the simulators of robots.
virtual void computeArticularVelocity()=0
virtual int isInJointLimit()=0
virtual void initArms()=0
virtual void updateArticularPosition()=0
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Simulator of Irisa's Viper S850 robot named Viper850.
void get_fMi(vpHomogeneousMatrix *fMit)
static const double defaultPositioningVelocity
void setPositioningVelocity(double vel)
double getPositioningVelocity(void)
Modelisation of the ADEPT Viper 850 robot.
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
vpToolType
List of possible tools that can be attached to the robot end-effector.
void get_cMe(vpHomogeneousMatrix &cMe) const
void get_cVe(vpVelocityTwistMatrix &cVe) const
void getExternalImage(vpImage< unsigned char > &I)