36#ifndef vpSimulatorAfma6_HH
37#define vpSimulatorAfma6_HH
44#include <visp3/robot/vpAfma6.h>
45#include <visp3/robot/vpRobotWireFrameSimulator.h>
49#if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD))
181 bool first_time_getdis;
183 double positioningVelocity;
221 void move(
const char *filename);
223 static bool readPosFile(
const std::string &filename,
vpColVector &q);
224 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
230 double pos5,
double pos6);
250 for (
int i = 0; i < 8; i++) {
254 m_mutex_fMi.unlock();
Modelisation of Irisa's gantry robot named Afma6.
void get_cVe(vpVelocityTwistMatrix &cVe) const
void get_cMe(vpHomogeneousMatrix &cMe) const
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
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 gantry robot named Afma6.
void get_fMi(vpHomogeneousMatrix *fMit)
void setPositioningVelocity(double vel)
static const double defaultPositioningVelocity
double getPositioningVelocity(void)
void getExternalImage(vpImage< unsigned char > &I)