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vpRobotTemplate.h
1 /****************************************************************************
2  *
3  * $Id: vpRobotTemplate.h 4056 2013-01-05 13:04:42Z fspindle $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Defines a robot just to show which function you must implement.
36  *
37  * Authors:
38  * Eric Marchand
39  *
40  *****************************************************************************/
41 
42 
43 #ifndef vpRobotTemplate_H
44 #define vpRobotTemplate_H
45 
51 #include <visp/vpRobot.h>
52 
58 class VISP_EXPORT vpRobotTemplate : public vpRobot
59 {
60 
61 public:
62 
64  void init() ;
65 
67  vpRobotTemplate() ;
69  virtual ~vpRobotTemplate() ;
70 
71 
73  void get_eJe(vpMatrix &_eJe) ;
75  void get_fJe(vpMatrix &_fJe) ;
76 
78  void sendCameraVelocity(const vpColVector &v) ;
80  void sendArticularVelocity(const vpColVector &qdot) ;
83  const vpColVector &vel) ;
84 
86  void getPosition(vpPoseVector &q) ;
88  void getArticularPosition(vpColVector &q) ;
91  vpColVector &q) ;
94  const vpColVector &q) ;
95 
98  vpColVector &q) ;
99 } ;
100 
101 #endif
102 
103 /*
104  * Local variables:
105  * c-basic-offset: 2
106  * End:
107  */