42 #ifndef vpSimulatorAfma6_HH
43 #define vpSimulatorAfma6_HH
50 #include <visp/vpRobotWireFrameSimulator.h>
51 #include <visp/vpAfma6.h>
55 #if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
188 bool first_time_getdis;
190 double positioningVelocity;
204 const unsigned int &image_width,
205 const unsigned int &image_height);
227 void move(
const char *filename) ;
229 static bool readPosFile(
const char *filename,
vpColVector &q);
230 static bool savePosFile(
const char *filename,
const vpColVector &q);
259 WaitForSingleObject(mutex_fMi,INFINITE);
260 for (
int i = 0; i < 8; i++)
262 ReleaseMutex(mutex_fMi);
263 #elif defined(VISP_HAVE_PTHREAD)
264 pthread_mutex_lock (&mutex_fMi);
265 for (
int i = 0; i < 8; i++)
267 pthread_mutex_unlock (&mutex_fMi);
278 void getCameraDisplacement(
vpColVector &displacement);
279 void getArticularDisplacement(
vpColVector &displacement);