39 #include <visp3/core/vpConfig.h>
41 #include <visp3/robot/vpRobotException.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/robot/vpRobotTemplate.h>
80 std::cout <<
"Not implemented ! " << std::endl;
100 std::cout <<
"Not implemented ! " << std::endl;
111 std::cout <<
"Not implemented ! " << std::endl;
180 std::cout <<
"Not implemented ! " << std::endl;
181 std::cout <<
"To implement me you need : " << std::endl;
182 std::cout <<
"\t to known the robot jacobian expressed in ";
183 std::cout <<
"the end-effector frame (eJe) " << std::endl;
184 std::cout <<
"\t the frame transformation between tool or camera frame ";
185 std::cout <<
"and end-effector frame (cMe)" << std::endl;
198 std::cout <<
"Not implemented ! " << std::endl;
214 "Cannot send a velocity to the robot. "
215 "Call setRobotState(vpRobot::STATE_VELOCITY_CONTROL) once before "
216 "entering your control loop.");
228 if (vel.
size() != 6) {
233 for (
unsigned int i = 0; i < 3; i++)
235 for (
unsigned int i = 3; i < 6; i++)
245 if (vel.
size() !=
static_cast<size_t>(
nDof)) {
274 std::cout <<
"Not implemented ! " << std::endl;
289 std::cout <<
"Not implemented ! " << std::endl;
303 std::cout <<
"Not implemented ! " << std::endl;
316 std::cout <<
"Not implemented ! " << std::endl;
unsigned int size() const
Return the number of elements of the 2D array.
Implementation of column vector and the associated operations.
error that can be emited by ViSP classes.
@ dimensionError
Bad dimension.
Implementation of a matrix and operations on matrices.
Error that can be emited by the vpRobot class and its derivates.
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)
void get_eJe(vpMatrix &eJe_)
void get_fJe(vpMatrix &fJe_)
void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)
void getJointPosition(vpColVector &q)
void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v)
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
virtual ~vpRobotTemplate()
void setJointVelocity(const vpColVector &qdot)
int nDof
number of degrees of freedom
static const double maxTranslationVelocityDefault
virtual vpRobotStateType getRobotState(void) const
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
static const double maxRotationVelocityDefault
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
double getMaxRotationVelocity(void) const
double maxTranslationVelocity
double getMaxTranslationVelocity(void) const
double maxRotationVelocity