42 #ifndef vpSimulatorViper850_HH
43 #define vpSimulatorViper850_HH
52 #include <visp/vpRobotWireFrameSimulator.h>
53 #include <visp/vpViper850.h>
55 #if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
213 bool first_time_getdis;
215 double positioningVelocity;
229 const unsigned int &image_width,
230 const unsigned int &image_height);
256 void move(
const char *filename) ;
258 static bool readPosFile(
const char *filename,
vpColVector &q);
259 static bool savePosFile(
const char *filename,
const vpColVector &q);
287 WaitForSingleObject(mutex_fMi,INFINITE);
288 for (
int i = 0; i < 8; i++)
290 ReleaseMutex(mutex_fMi);
291 #elif defined(VISP_HAVE_PTHREAD)
292 pthread_mutex_lock (&mutex_fMi);
293 for (
int i = 0; i < 8; i++)
295 pthread_mutex_unlock (&mutex_fMi);
306 void getArticularDisplacement(
vpColVector &displacement);
307 void getCameraDisplacement(
vpColVector &displacement);