vpRobotWireFrameSimulator Class Reference

#include <vpRobotWireFrameSimulator.h>

Inheritance diagram for vpRobotWireFrameSimulator:

Public Types
enum	vpDisplayRobotType { MODEL_3D , MODEL_DH }
enum	vpRobotStateType {   STATE_STOP , STATE_VELOCITY_CONTROL , STATE_POSITION_CONTROL , STATE_ACCELERATION_CONTROL ,   STATE_FORCE_TORQUE_CONTROL }
enum	vpControlFrameType {   REFERENCE_FRAME , ARTICULAR_FRAME , JOINT_STATE = ARTICULAR_FRAME , END_EFFECTOR_FRAME ,   CAMERA_FRAME , TOOL_FRAME = CAMERA_FRAME , MIXT_FRAME }

Public Member Functions
	vpRobotWireFrameSimulator ()
VP_EXPLICIT	vpRobotWireFrameSimulator (bool display)
Inherited functionalities from vpRobotWireFrameSimulator
vpCameraParameters	getExternalCameraParameters () const
vpHomogeneousMatrix	getExternalCameraPosition () const
void	getInternalView (vpImage< vpRGBa > &I)
void	getInternalView (vpImage< unsigned char > &I)
vpHomogeneousMatrix	get_cMo ()
vpHomogeneousMatrix	get_fMo () const
void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)
void	initScene (const char *obj, const char *desiredObject)
void	initScene (const vpSceneObject &obj)
void	initScene (const char *obj)
void	setCameraColor (const vpColor &col)
void	setConstantSamplingTimeMode (const bool _constantSamplingTimeMode)
void	setCurrentViewColor (const vpColor &col)
void	setDesiredViewColor (const vpColor &col)
void	setDesiredCameraPosition (const vpHomogeneousMatrix &cdMo_)
void	setDisplayRobotType (const vpDisplayRobotType dispType)
void	setExternalCameraPosition (const vpHomogeneousMatrix &camMf_)
void	setGraphicsThickness (unsigned int thickness)
void	setSamplingTime (const double &delta_t) VP_OVERRIDE
void	setSingularityManagement (bool sm)
void	setVerbose (bool verbose)
void	set_fMo (const vpHomogeneousMatrix &fMo_)
Inherited functionalities from vpRobotSimulator
double	getSamplingTime () const
Inherited functionalities from vpRobot
virtual void	get_eJe (vpMatrix &_eJe)=0
virtual void	get_fJe (vpMatrix &_fJe)=0
virtual void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)=0
double	getMaxTranslationVelocity (void) const
double	getMaxRotationVelocity (void) const
int	getNDof () const
virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &position)=0
vpColVector	getPosition (const vpRobot::vpControlFrameType frame)
virtual vpRobotStateType	getRobotState (void) const
virtual void	init ()=0
void	setMaxRotationVelocity (double maxVr)
void	setMaxTranslationVelocity (double maxVt)
virtual void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)
virtual void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0

Static Public Member Functions
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Public Attributes
vpImage< vpRGBa >	I

Protected Types
enum	vpSceneObject {   THREE_PTS , CUBE , PLATE , SMALL_PLATE ,   RECTANGLE , SQUARE_10CM , DIAMOND , TRAPEZOID ,   THREE_LINES , ROAD , TIRE , PIPE ,   CIRCLE , SPHERE , CYLINDER , PLAN ,   POINT_CLOUD }
enum	vpSceneDesiredObject { D_STANDARD , D_CIRCLE , D_TOOL }
enum	vpCameraTrajectoryDisplayType { CT_LINE , CT_POINT }

Protected Member Functions
Inherited functionalities from vpWireFrameSimulator
void	deleteCameraPositionHistory ()
void	displayTrajectory (const vpImage< unsigned char > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)
void	displayTrajectory (const vpImage< vpRGBa > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)
vpCameraParameters	getExternalCameraParameters (const vpImage< unsigned char > &I) const
vpCameraParameters	getExternalCameraParameters (const vpImage< vpRGBa > &I) const
void	getExternalImage (vpImage< unsigned char > &I)
void	getExternalImage (vpImage< unsigned char > &I, const vpHomogeneousMatrix &camMf)
void	getExternalImage (vpImage< vpRGBa > &I)
void	getExternalImage (vpImage< vpRGBa > &I, const vpHomogeneousMatrix &camMf)
vpCameraParameters	getInternalCameraParameters (const vpImage< unsigned char > &I) const
vpCameraParameters	getInternalCameraParameters (const vpImage< vpRGBa > &I) const
void	getInternalImage (vpImage< unsigned char > &I)
void	getInternalImage (vpImage< vpRGBa > &I)
vpHomogeneousMatrix	get_cMo () const
void	get_cMo_History (std::list< vpHomogeneousMatrix > &cMo_history)
void	get_fMo_History (std::list< vpHomogeneousMatrix > &fMo_history)
void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject, const std::list< vpImageSimulator > &imObj)
void	initScene (const char *obj, const char *desiredObject, const std::list< vpImageSimulator > &imObj)
void	initScene (const vpSceneObject &obj, const std::list< vpImageSimulator > &imObj)
void	initScene (const char *obj, const std::list< vpImageSimulator > &imObj)
void	setCameraPositionRelObj (const vpHomogeneousMatrix &cMo_)
void	setCameraPositionRelWorld (const vpHomogeneousMatrix &fMc_)
void	setCameraSizeFactor (float factor)
void	setCameraTrajectoryColor (const vpColor &col)
void	setCameraTrajectoryDisplayType (const vpCameraTrajectoryDisplayType &camTraj_type)
void	setDisplayCameraTrajectory (const bool &do_display)
void	setExternalCameraParameters (const vpCameraParameters &cam)
void	setInternalCameraParameters (const vpCameraParameters &cam)
void	setNbPtTrajectory (unsigned int nbPt)
Protected Member Functions Inherited from vpWireFrameSimulator
void	display_scene (Matrix mat, Bound_scene &sc, const vpImage< vpRGBa > &I, const vpColor &color)
void	display_scene (Matrix mat, Bound_scene &sc, const vpImage< unsigned char > &I, const vpColor &color)
vpHomogeneousMatrix	navigation (const vpImage< vpRGBa > &I, bool &changed)
vpHomogeneousMatrix	navigation (const vpImage< unsigned char > &I, bool &changed)
vpImagePoint	projectCameraTrajectory (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)
vpImagePoint	projectCameraTrajectory (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)
vpImagePoint	projectCameraTrajectory (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)
vpImagePoint	projectCameraTrajectory (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)
vpControlFrameType	getRobotFrame (void) const

Protected Attributes
double	tcur
double	tprev
Bound_scene *	robotArms
unsigned int	size_fMi
vpHomogeneousMatrix *	fMi
vpColVector	artCoord
vpColVector	artVel
vpColVector	velocity
std::thread *	m_thread
std::mutex	m_mutex_fMi
std::mutex	m_mutex_eMc
std::mutex	m_mutex_artVel
std::mutex	m_mutex_artCoord
std::mutex	m_mutex_velocity
std::mutex	m_mutex_display
std::mutex	m_mutex_robotStop
std::mutex	m_mutex_frame
std::mutex	m_mutex_setVelocityCalled
std::mutex	m_mutex_scene
bool	displayBusy
bool	robotStop
bool	jointLimit
unsigned int	jointLimitArt
bool	singularityManagement
vpCameraParameters	cameraParam
vpDisplayX	display
vpDisplayRobotType	displayType
bool	displayAllowed
bool	constantSamplingTimeMode
bool	setVelocityCalled
Bound_scene	scene
Bound_scene	desiredScene
Bound_scene	camera
std::list< vpImageSimulator >	objectImage
vpHomogeneousMatrix	fMo
vpHomogeneousMatrix	fMc
vpHomogeneousMatrix	camMf
vpHomogeneousMatrix	refMo
vpHomogeneousMatrix	cMo
vpHomogeneousMatrix	cdMo
vpSceneObject	object
vpSceneDesiredObject	desiredObject
vpColor	camColor
vpColor	camTrajColor
vpColor	curColor
vpColor	desColor
bool	sceneInitialized
bool	displayCameraTrajectory
std::list< vpImagePoint >	cameraTrajectory
std::list< vpHomogeneousMatrix >	poseList
std::list< vpHomogeneousMatrix >	fMoList
unsigned int	nbrPtLimit
vpImagePoint	old_iPr
vpImagePoint	old_iPz
vpImagePoint	old_iPt
bool	blockedr
bool	blockedz
bool	blockedt
bool	blocked
vpHomogeneousMatrix	camMf2
vpHomogeneousMatrix	f2Mf
double	px_int
double	py_int
double	px_ext
double	py_ext
bool	displayObject
bool	displayDesiredObject
bool	displayCamera
bool	displayImageSimulator
float	cameraFactor
vpCameraTrajectoryDisplayType	camTrajType
bool	extCamChanged
vpHomogeneousMatrix	rotz
unsigned int	thickness_
double	delta_t_
double	maxTranslationVelocity
double	maxRotationVelocity
int	nDof
vpMatrix	eJe
int	eJeAvailable
vpMatrix	fJe
int	fJeAvailable
int	areJointLimitsAvailable
double *	qmin
double *	qmax
bool	verbose_

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2
static const double	maxRotationVelocityDefault = 0.7

Protected Member Functions Inherited from vpRobotWireFrameSimulator
static void	launcher (vpRobotWireFrameSimulator &simulator)
virtual void	updateArticularPosition ()=0
virtual int	isInJointLimit ()=0
virtual void	computeArticularVelocity ()=0
void	initDisplay ()
virtual void	initArms ()=0
vpColVector	get_artCoord ()
void	set_artCoord (const vpColVector &coord)
vpColVector	get_artVel ()
void	set_artVel (const vpColVector &vel)
vpColVector	get_velocity ()
void	set_velocity (const vpColVector &vel)
void	set_displayBusy (const bool &status)
bool	get_displayBusy ()
virtual void	get_fMi (vpHomogeneousMatrix *fMit)=0

Detailed Description

This class aims to be a basis used to create all the simulators of robots.

Thus in this class you will find all the parameters and methods which are necessary to create a simulator. Several methods are pure virtual. In this case it means that they are specific to the each robot, for example the computation of the geometrical model.

Warning

This class uses threading capabilities. Thus on Unix-like platforms, the libpthread third-party library need to be installed. On Windows, we use the native threading capabilities.

Definition at line 79 of file vpRobotWireFrameSimulator.h.

Member Enumeration Documentation

vpCameraTrajectoryDisplayType

enum vpWireFrameSimulator::vpCameraTrajectoryDisplayType

inherited

Enumerator
CT_LINE
CT_POINT

Definition at line 228 of file vpWireFrameSimulator.h.

vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.
JOINT_STATE	Corresponds to the joint state.
END_EFFECTOR_FRAME	Corresponds to robot end-effector frame.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME	Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 73 of file vpRobot.h.

vpDisplayRobotType

enum vpRobotWireFrameSimulator::vpDisplayRobotType

Enumerator
MODEL_3D
MODEL_DH

Definition at line 84 of file vpRobotWireFrameSimulator.h.

vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 61 of file vpRobot.h.

vpSceneDesiredObject

enum vpWireFrameSimulator::vpSceneDesiredObject

inherited

Type of scene used to display the object at the desired pose (in the internal view).

• D_STANDARD will use the vpSceneObject used to be the object at the current position.
• D_OUTIL will display a tool which is attached to the camera.

Enumerator
D_STANDARD	The object displayed at the desired position is the same than the scene object defined in vpSceneObject.
D_CIRCLE	The object displayed at the desired position is a circle.
D_TOOL	A cylindrical tool is attached to the camera.

Definition at line 220 of file vpWireFrameSimulator.h.

vpSceneObject

enum vpWireFrameSimulator::vpSceneObject

inherited

Type of scene used to display the object at the current position.

Enumerator
THREE_PTS	A 40cm by 40cm plate with 3 points at coordinates (0,0,0), (0.1,0,0), (0,0.1,0). Each point is represented by a circle with 2cm radius.
CUBE	A 12.5cm size cube.
PLATE	A 40cm by 40cm plate with 4 points at coordinates (-0.1,-0.1,0), (0.1,-0.1,0), (0.1,0.1,0), (0.1,0.1,0). Each point is represented by a circle with 2cm radius.
SMALL_PLATE	4 points at coordinates (-0.03,-0.03,0), (0.03,-0.03,0), (0.03,0.03,0), (0.03,0.03,0). Each point is represented by a circle with 1cm radius.
RECTANGLE	A 40cm by 40cm plate with 4 points at coordinates (-0.07,-0.05,0), (0.07,0.05,0), (0.07,-0.05,0), (-0.07,-0.05,0). Each point is represented by a circle with 2cm radius.
SQUARE_10CM	A 40cm by 40cm plate with 4 points at coordinates (-0.05,0.05,0), (0.05,0.05,0), (0.05,-0.05,0), (-0.05,-0.05,0). Each point is represented by a circle with 2cm radius.
DIAMOND	A 40cm by 40cm plate with 4 points at coordinates (0,-0.1,0), (0.1,0,0), (0,0.1,0), (-0.1,0,0). Each point is represented by a circle with 2cm radius.
TRAPEZOID	A 40cm by 40cm plate with 4 points at coordinates (-0.025,-0.05,0), (-0.075,0.05,0), (0.075,0.05,0), (0.025,-0.05,0). Each point is represented by a circle with 2cm radius.
THREE_LINES	Three parallel lines with equation y=-5, y=0, y=5.
ROAD	Three parallel lines representing a road.
TIRE	A tire represented by 2 circles with radius 10cm and 15cm.
PIPE	A pipe represented by a cylinder of 25 cm length and 15cm radius.
CIRCLE	A 10cm radius circle.
SPHERE	A 15cm radius sphere.
CYLINDER	A cylinder of 80cm length and 10cm radius.
PLAN	A plane represented by a 56cm by 56cm plate with a grid of 49 squares inside.
POINT_CLOUD	A plate with 8 points at coordinates (0.05,0,0), (0.15,0.05,0), (0.2,0.2,0), (-0.05,0.2,0), (-0.15,-0.1,0), (-0.1,-0.1,0), (-0.05,0.05,0) and (0.5,0,0). ach point is represented by a circle with 2cm radius.

Definition at line 168 of file vpWireFrameSimulator.h.

Constructor & Destructor Documentation

vpRobotWireFrameSimulator() [1/2]

BEGIN_VISP_NAMESPACE vpRobotWireFrameSimulator::vpRobotWireFrameSimulator

(

)

Basic constructor

Definition at line 48 of file vpRobotWireFrameSimulator.cpp.

References artCoord, artVel, cameraParam, constantSamplingTimeMode, display, displayAllowed, displayBusy, displayType, fMi, I, jointLimit, jointLimitArt, m_mutex_artCoord, m_mutex_artVel, m_mutex_display, m_mutex_eMc, m_mutex_fMi, m_mutex_frame, m_mutex_robotStop, m_mutex_scene, m_mutex_setVelocityCalled, m_mutex_velocity, m_thread, MODEL_3D, robotArms, robotStop, setSamplingTime(), setVelocityCalled, singularityManagement, size_fMi, tcur, tprev, velocity, vpRobotSimulator::vpRobotSimulator(), and vpWireFrameSimulator::vpWireFrameSimulator().

Referenced by launcher(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), and vpSimulatorViper850::vpSimulatorViper850().

vpRobotWireFrameSimulator() [2/2]

vpRobotWireFrameSimulator::vpRobotWireFrameSimulator

(

bool

do_display

)

Default constructor.

Parameters

do_display

: When true, enables the display of the external view.

Definition at line 72 of file vpRobotWireFrameSimulator.cpp.

References artCoord, artVel, cameraParam, constantSamplingTimeMode, display, displayAllowed, displayBusy, displayType, fMi, I, jointLimit, jointLimitArt, m_mutex_artCoord, m_mutex_artVel, m_mutex_display, m_mutex_eMc, m_mutex_fMi, m_mutex_frame, m_mutex_robotStop, m_mutex_scene, m_mutex_setVelocityCalled, m_mutex_velocity, m_thread, MODEL_3D, robotArms, robotStop, setSamplingTime(), setVelocityCalled, singularityManagement, size_fMi, tcur, tprev, velocity, vpRobotSimulator::vpRobotSimulator(), and vpWireFrameSimulator::vpWireFrameSimulator().

Member Function Documentation

computeArticularVelocity()

virtual void vpRobotWireFrameSimulator::computeArticularVelocity ( )

protectedpure virtual

Compute the articular velocity relative to the velocity in another frame.

Implemented in vpSimulatorAfma6, and vpSimulatorViper850.

deleteCameraPositionHistory()

void vpWireFrameSimulator::deleteCameraPositionHistory ( )

inlineinherited

Delete the history of the main camera position which are displayed in the external views.

Definition at line 303 of file vpWireFrameSimulator.h.

References cameraTrajectory, fMoList, and poseList.

display_scene() [1/2]

void vpWireFrameSimulator::display_scene ( Matrix mat, Bound_scene & sc, const vpImage< unsigned char > & I, const vpColor & color )

protectedinherited

Definition at line 119 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), and thickness_.

display_scene() [2/2]

void vpWireFrameSimulator::display_scene ( Matrix mat, Bound_scene & sc, const vpImage< vpRGBa > & I, const vpColor & color )

protectedinherited

Definition at line 75 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), and thickness_.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), and vpRobotWireFrameSimulator::getInternalView().

displayTrajectory() [1/2]

void vpWireFrameSimulator::displayTrajectory ( const vpImage< unsigned char > & I, const std::list< vpHomogeneousMatrix > & list_cMo, const std::list< vpHomogeneousMatrix > & list_fMo, const vpHomogeneousMatrix & cMf )

inherited

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame.

Definition at line 1278 of file vpWireFrameSimulator.cpp.

References camTrajColor, camTrajType, CT_LINE, CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), projectCameraTrajectory(), rotz, and thickness_.

displayTrajectory() [2/2]

void vpWireFrameSimulator::displayTrajectory ( const vpImage< vpRGBa > & I, const std::list< vpHomogeneousMatrix > & list_cMo, const std::list< vpHomogeneousMatrix > & list_fMo, const vpHomogeneousMatrix & cMf )

inherited

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame.

Definition at line 1325 of file vpWireFrameSimulator.cpp.

References camTrajColor, camTrajType, CT_LINE, CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), projectCameraTrajectory(), rotz, and thickness_.

get_artCoord()

vpColVector vpRobotWireFrameSimulator::get_artCoord ( )

inlineprotected

Definition at line 349 of file vpRobotWireFrameSimulator.h.

References artCoord, and m_mutex_artCoord.

Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::get_eJe(), vpSimulatorViper850::get_eJe(), vpSimulatorAfma6::get_fJe(), vpSimulatorViper850::get_fJe(), vpSimulatorAfma6::getDisplacement(), vpSimulatorViper850::getDisplacement(), vpSimulatorAfma6::getPosition(), vpSimulatorViper850::getPosition(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::isInJointLimit(), vpSimulatorViper850::isInJointLimit(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

get_artVel()

vpColVector vpRobotWireFrameSimulator::get_artVel ( )

inlineprotected

Definition at line 364 of file vpRobotWireFrameSimulator.h.

References artVel, and m_mutex_artVel.

Referenced by vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

get_cMo() [1/2]

vpHomogeneousMatrix vpRobotWireFrameSimulator::get_cMo

(

)

Get the pose between the object and the robot's camera.

Returns

The pose between the object and the fixed world frame.

Definition at line 345 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::fMo, get_fMi(), vpHomogeneousMatrix::inverse(), and size_fMi.

Referenced by vpSimulatorAfma6::setPosition().

get_cMo() [2/2]

vpHomogeneousMatrix vpWireFrameSimulator::get_cMo ( ) const

inlineinherited

Get the pose between the object and the camera.

Returns

The pose between between the object and the camera.

Definition at line 414 of file vpWireFrameSimulator.h.

References cMo, and rotz.

get_cMo_History()

void vpWireFrameSimulator::get_cMo_History ( std::list< vpHomogeneousMatrix > & cMo_history )

inlineinherited

Get the homogeneous matrices cMo stored to display the camera trajectory.

Parameters

cMo_history

: The list of the homogeneous matrices cMo.

Definition at line 422 of file vpWireFrameSimulator.h.

References poseList, and rotz.

get_displayBusy()

bool vpRobotWireFrameSimulator::get_displayBusy ( )

inlineprotected

Definition at line 398 of file vpRobotWireFrameSimulator.h.

References displayBusy, and m_mutex_display.

Referenced by getInternalView(), getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

get_eJe()

virtual void vpRobot::get_eJe ( vpMatrix & _eJe )

pure virtualinherited

Get the robot Jacobian expressed in the end-effector frame.

Implemented in vpRobotAfma6, vpRobotBiclops, vpRobotCamera, vpRobotFlirPtu, vpRobotFranka, vpRobotKinova, vpRobotPioneer, vpRobotPololuPtu, vpRobotPtu46, vpRobotTemplate, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, vpSimulatorCamera, vpSimulatorPioneer, vpSimulatorPioneerPan, and vpSimulatorViper850.

get_fJe()

virtual void vpRobot::get_fJe ( vpMatrix & _fJe )

pure virtualinherited

Get the robot Jacobian expressed in the robot reference (or world) frame.

Implemented in vpRobotAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotFranka, vpRobotKinova, vpRobotPololuPtu, vpRobotPtu46, vpRobotTemplate, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, and vpSimulatorViper850.

get_fMi()

virtual void vpRobotWireFrameSimulator::get_fMi ( vpHomogeneousMatrix * fMit )

protectedpure virtual

Get a table of poses between the reference frame and the frames you used to compute the Denavit-Hartenberg representation

Implemented in vpSimulatorAfma6, and vpSimulatorViper850.

Referenced by get_cMo(), getInternalView(), and getInternalView().

get_fMo()

vpHomogeneousMatrix vpRobotWireFrameSimulator::get_fMo ( ) const

inline

Get the pose between the object and the fixed world frame.

Returns

The pose between the object and the fixed world frame.

Definition at line 208 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::fMo.

get_fMo_History()

void vpWireFrameSimulator::get_fMo_History ( std::list< vpHomogeneousMatrix > & fMo_history )

inlineinherited

Get the homogeneous matrices fMo stored to display the camera trajectory.

Parameters

fMo_history

: The list of the homogeneous matrices fMo.

Definition at line 443 of file vpWireFrameSimulator.h.

References fMoList.

get_velocity()

vpColVector vpRobotWireFrameSimulator::get_velocity ( )

inlineprotected

Definition at line 378 of file vpRobotWireFrameSimulator.h.

References m_mutex_velocity, and velocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

getDisplacement()

virtual void vpRobot::getDisplacement ( const vpRobot::vpControlFrameType frame, vpColVector & q )

pure virtualinherited

Get a displacement (frame as to ve specified) between two successive position control.

Implemented in vpRobotAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotKinova, vpRobotPtu46, vpRobotTemplate, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, and vpSimulatorViper850.

References getMaxRotationVelocity(), and getMaxTranslationVelocity().

getExternalCameraParameters() [1/3]

vpCameraParameters vpRobotWireFrameSimulator::getExternalCameraParameters ( ) const

inline

Get the parameters of the virtual external camera.

Returns

It returns the camera parameters.

Definition at line 175 of file vpRobotWireFrameSimulator.h.

References I, vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::px_ext, and vpWireFrameSimulator::py_ext.

getExternalCameraParameters() [2/3]

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< unsigned char > & I ) const

inlineinherited

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns

It returns the camera parameters.

Definition at line 322 of file vpWireFrameSimulator.h.

References vpMath::maximum(), vpMath::minimum(), px_ext, and py_ext.

Referenced by projectCameraTrajectory(), projectCameraTrajectory(), projectCameraTrajectory(), and projectCameraTrajectory().

getExternalCameraParameters() [3/3]

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inlineinherited

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns

It returns the camera parameters.

Definition at line 341 of file vpWireFrameSimulator.h.

References vpMath::maximum(), vpMath::minimum(), px_ext, and py_ext.

getExternalCameraPosition()

vpHomogeneousMatrix vpRobotWireFrameSimulator::getExternalCameraPosition ( ) const

inline

Get the external camera's position relative to the the world reference frame.

Returns

the main external camera position relative to the the world reference frame.

Definition at line 194 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::getExternalCameraPosition().

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

getExternalImage() [1/4]

void vpWireFrameSimulator::getExternalImage ( vpImage< unsigned char > & I )

inherited

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning

: The objects are displayed thanks to overlays. The image I is not modified.

Examples

servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 1078 of file vpWireFrameSimulator.cpp.

References camColor, camera, cameraTrajectory, camMf, camMf2, camTrajColor, camTrajType, cMo, CT_LINE, CT_POINT, CUBE, curColor, vpDisplay::display(), display_scene(), displayCamera, displayCameraTrajectory, displayImageSimulator, vpDisplay::displayLine(), displayObject, vpDisplay::displayPoint(), extCamChanged, f2Mf, fMc, fMo, fMoList, vpImageSimulator::getImage(), getInternalCameraParameters(), vpMath::maximum(), vpMath::minimum(), navigation(), nbrPtLimit, objectImage, poseList, projectCameraTrajectory(), px_ext, py_ext, rotz, scene, vpImageSimulator::setCameraPosition(), SPHERE, and thickness_.

getExternalImage() [2/4]

void vpWireFrameSimulator::getExternalImage ( vpImage< unsigned char > & I, const vpHomogeneousMatrix & cam_Mf )

inherited

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
cam_Mf	: The pose between the point of view and the fixed world frame.

Warning

: The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1211 of file vpWireFrameSimulator.cpp.

References camColor, camera, cMo, curColor, vpDisplay::display(), display_scene(), displayCamera, displayImageSimulator, displayObject, fMo, vpImageSimulator::getImage(), getInternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), objectImage, px_ext, py_ext, rotz, scene, and vpImageSimulator::setCameraPosition().

getExternalImage() [3/4]

void vpWireFrameSimulator::getExternalImage ( vpImage< vpRGBa > & I )

inherited

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning

: The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 809 of file vpWireFrameSimulator.cpp.

References camColor, camera, cameraTrajectory, camMf, camMf2, camTrajColor, camTrajType, cMo, CT_LINE, CT_POINT, CUBE, curColor, vpDisplay::display(), display_scene(), displayCamera, displayCameraTrajectory, displayImageSimulator, vpDisplay::displayLine(), displayObject, vpDisplay::displayPoint(), extCamChanged, f2Mf, fMc, fMo, fMoList, vpImageSimulator::getImage(), getInternalCameraParameters(), vpMath::maximum(), vpMath::minimum(), navigation(), nbrPtLimit, objectImage, poseList, projectCameraTrajectory(), px_ext, py_ext, rotz, scene, vpImageSimulator::setCameraPosition(), SPHERE, and thickness_.

getExternalImage() [4/4]

void vpWireFrameSimulator::getExternalImage ( vpImage< vpRGBa > & I, const vpHomogeneousMatrix & cam_Mf )

inherited

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
cam_Mf	: The pose between the point of view and the fixed world frame.

Warning

: The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 943 of file vpWireFrameSimulator.cpp.

References camColor, camera, cMo, curColor, vpDisplay::display(), display_scene(), displayCamera, displayImageSimulator, displayObject, fMo, vpImageSimulator::getImage(), getInternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), objectImage, px_ext, py_ext, rotz, scene, and vpImageSimulator::setCameraPosition().

getInternalCameraParameters() [1/2]

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< unsigned char > & I ) const

inlineinherited

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns

It returns the camera parameters.

Definition at line 374 of file vpWireFrameSimulator.h.

References vpMath::maximum(), vpMath::minimum(), px_int, and py_int.

Referenced by getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), and getInternalImage().

getInternalCameraParameters() [2/2]

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inlineinherited

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns

It returns the camera parameters.

Definition at line 393 of file vpWireFrameSimulator.h.

References vpMath::maximum(), vpMath::minimum(), px_int, and py_int.

getInternalImage() [1/2]

void vpWireFrameSimulator::getInternalImage ( vpImage< unsigned char > & I )

inherited

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning

: The objects are displayed thanks to overlays. The image I is not modified.

Examples

servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 1003 of file vpWireFrameSimulator.cpp.

References camMf, cdMo, cMo, curColor, D_TOOL, desColor, desiredObject, desiredScene, vpDisplay::display(), display_scene(), displayDesiredObject, displayImageSimulator, displayObject, fMo, vpImageSimulator::getImage(), getInternalCameraParameters(), vpMath::maximum(), vpMath::minimum(), vpException::notInitialized, objectImage, px_int, py_int, vpColor::red, rotz, scene, sceneInitialized, and vpImageSimulator::setCameraPosition().

getInternalImage() [2/2]

void vpWireFrameSimulator::getInternalImage ( vpImage< vpRGBa > & I )

inherited

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning

: The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 734 of file vpWireFrameSimulator.cpp.

References cdMo, cMo, curColor, D_TOOL, desColor, desiredObject, desiredScene, vpDisplay::display(), display_scene(), displayDesiredObject, displayImageSimulator, displayObject, vpImageSimulator::getImage(), getInternalCameraParameters(), vpMath::maximum(), vpMath::minimum(), vpException::notInitialized, objectImage, px_int, py_int, vpColor::red, rotz, scene, sceneInitialized, and vpImageSimulator::setCameraPosition().

getInternalView() [1/2]

void vpRobotWireFrameSimulator::getInternalView

(

vpImage< unsigned char > &

I_

)

Get the view of the camera's robot.

According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.

Parameters

I_	: The image where the internal view is displayed.

Warning

: The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 276 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, get_displayBusy(), get_fMi(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), I, vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, set_displayBusy(), size_fMi, and vpTime::wait().

getInternalView() [2/2]

void vpRobotWireFrameSimulator::getInternalView

(

vpImage< vpRGBa > &

I_

)

Get the view of the camera's robot.

According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.

Parameters

I_	: The image where the internal view is displayed.

Warning

: The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 202 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::cdMo, vpWireFrameSimulator::cMo, vpWireFrameSimulator::curColor, vpWireFrameSimulator::D_TOOL, vpWireFrameSimulator::desColor, vpWireFrameSimulator::desiredObject, vpWireFrameSimulator::desiredScene, vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayDesiredObject, vpWireFrameSimulator::displayObject, vpWireFrameSimulator::fMo, get_displayBusy(), get_fMi(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpColor::red, vpWireFrameSimulator::rotz, vpWireFrameSimulator::scene, vpWireFrameSimulator::sceneInitialized, set_displayBusy(), size_fMi, and vpTime::wait().

Referenced by vpSimulatorAfma6::setPosition().

getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns

Maximum rotation velocity expressed in rad/s.

Definition at line 272 of file vpRobot.cpp.

References maxRotationVelocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), getDisplacement(), vpRobotPololuPtu::setPosition(), vpSimulatorAfma6::setPosition(), vpRobotAfma6::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotPololuPtu::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpSimulatorViper850::setVelocity().

getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns

Maximum translational velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

References maxTranslationVelocity.

Referenced by getDisplacement(), vpSimulatorAfma6::setPosition(), vpRobotAfma6::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpSimulatorViper850::setVelocity().

getNDof()

int vpRobot::getNDof ( ) const

inlineinherited

Return robot degrees of freedom number.

Definition at line 142 of file vpRobot.h.

References nDof.

getPosition() [1/2]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 215 of file vpRobot.cpp.

References getPosition().

getPosition() [2/2]

virtual void vpRobot::getPosition ( const vpRobot::vpControlFrameType frame, vpColVector & position )

pure virtualinherited

Get the robot position (frame has to be specified).

Implemented in vpRobotAfma6, vpRobotBiclops, vpRobotCamera, vpRobotFlirPtu, vpRobotFranka, vpRobotKinova, vpRobotPololuPtu, vpRobotPtu46, vpRobotTemplate, vpRobotUniversalRobots, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, vpSimulatorCamera, vpSimulatorPioneer, vpSimulatorPioneerPan, and vpSimulatorViper850.

References getPosition().

Referenced by getPosition(), and getPosition().

getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 180 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 152 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotAfma6::setPosition(), vpRobotBiclops::setPosition(), vpRobotCamera::setPosition(), vpRobotFranka::setPosition(), vpRobotPololuPtu::setPosition(), vpRobotPtu46::setPosition(), vpRobotUniversalRobots::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma6::setRobotState(), vpRobotBiclops::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPololuPtu::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma6::setVelocity(), vpRobotBiclops::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPololuPtu::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotFlirPtu::stopMotion(), vpRobotFranka::stopMotion(), vpRobotViper650::stopMotion(), vpRobotViper850::stopMotion(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

getSamplingTime()

double vpRobotSimulator::getSamplingTime ( ) const

inlineinherited

Return the sampling time.

Returns

Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Definition at line 73 of file vpRobotSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

init()

virtual void vpRobot::init ( )

pure virtualinherited

Implemented in vpRobotAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotKinova, vpRobotPioneer, vpRobotPtu46, vpRobotTemplate, vpRobotUniversalRobots, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, and vpSimulatorViper850.

References operator=(), setMaxRotationVelocity(), setMaxTranslationVelocity(), and vpRobot().

Referenced by vpRobotFranka::connect(), vpRobotCamera::vpRobotCamera(), vpRobotFranka::vpRobotFranka(), vpRobotFranka::vpRobotFranka(), vpRobotFranka::vpRobotFranka(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

initArms()

virtual void vpRobotWireFrameSimulator::initArms ( )

protectedpure virtual

Implemented in vpSimulatorAfma6, and vpSimulatorViper850.

initDisplay()

void vpRobotWireFrameSimulator::initDisplay ( )

inlineprotected

Definition at line 346 of file vpRobotWireFrameSimulator.h.

initScene() [1/8]

void vpRobotWireFrameSimulator::initScene

(

const char *

obj

)

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file, or the vrml file.

Parameters

obj	: Path to the scene file you want to use.

Definition at line 179 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

initScene() [2/8]

void vpRobotWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desired_object )

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file. It is also possible to use a vrml (.wrl) file.

Parameters

obj	: Path to the scene file you want to use.
desired_object	: Path to the scene file you want to use.

Definition at line 133 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

initScene() [3/8]

void vpRobotWireFrameSimulator::initScene

(

const vpSceneObject &

obj

)

Initialize the display. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.

Definition at line 157 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

initScene() [4/8]

void vpRobotWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object )

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.
desired_object	: Type of scene used to display the object at the desired pose (in the internal view).

Definition at line 108 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, vpWireFrameSimulator::initScene(), and m_mutex_scene.

initScene() [5/8]

void vpWireFrameSimulator::initScene ( const char * obj, const char * desired_object, const std::list< vpImageSimulator > & imObj )

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
desired_object	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 503 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

initScene() [6/8]

void vpWireFrameSimulator::initScene ( const char * obj, const std::list< vpImageSimulator > & imObj )

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 719 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

initScene() [7/8]

void vpWireFrameSimulator::initScene ( const vpSceneObject & obj, const std::list< vpImageSimulator > & imObj )

inherited

Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
imObj	: A list of vpImageSimulator instances.

Definition at line 645 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

initScene() [8/8]

void vpWireFrameSimulator::initScene ( const vpSceneObject & obj, const vpSceneDesiredObject & desired_object, const std::list< vpImageSimulator > & imObj )

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
desired_object	: Type of scene used to display the object at the desired pose (in the internal view).
imObj	: A list of vpImageSimulator instances.

Definition at line 410 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

isInJointLimit()

virtual int vpRobotWireFrameSimulator::isInJointLimit ( )

protectedpure virtual

Method used to check if the robot reached a joint limit.

Implemented in vpSimulatorAfma6, and vpSimulatorViper850.

launcher()

void vpRobotWireFrameSimulator::launcher ( vpRobotWireFrameSimulator & simulator )

inlinestaticprotected

Function used to launch the thread which moves the robot.

Definition at line 329 of file vpRobotWireFrameSimulator.h.

References vpRobotWireFrameSimulator().

Referenced by vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), and vpSimulatorViper850::vpSimulatorViper850().

navigation() [1/2]

vpHomogeneousMatrix vpWireFrameSimulator::navigation ( const vpImage< unsigned char > & I, bool & changed )

protectedinherited

Enables to change the external camera position.

Definition at line 1445 of file vpWireFrameSimulator.cpp.

References blocked, blockedr, blockedt, blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpDisplay::getPointerPosition(), vpMath::minimum(), old_iPr, old_iPt, old_iPz, and vpMath::rad().

navigation() [2/2]

vpHomogeneousMatrix vpWireFrameSimulator::navigation ( const vpImage< vpRGBa > & I, bool & changed )

protectedinherited

Enables to change the external camera position.

Definition at line 1357 of file vpWireFrameSimulator.cpp.

References blocked, blockedr, blockedt, blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpDisplay::getPointerPosition(), vpMath::minimum(), old_iPr, old_iPt, old_iPz, and vpMath::rad().

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), and getExternalImage().

projectCameraTrajectory() [1/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory ( const vpImage< unsigned char > & I, const vpHomogeneousMatrix & cMo_, const vpHomogeneousMatrix & fMo_ )

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1553 of file vpWireFrameSimulator.cpp.

References camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

projectCameraTrajectory() [2/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory ( const vpImage< unsigned char > & I, const vpHomogeneousMatrix & cMo_, const vpHomogeneousMatrix & fMo_, const vpHomogeneousMatrix & cMf )

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1591 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

projectCameraTrajectory() [3/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory ( const vpImage< vpRGBa > & I, const vpHomogeneousMatrix & cMo_, const vpHomogeneousMatrix & fMo_ )

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1535 of file vpWireFrameSimulator.cpp.

References camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

Referenced by displayTrajectory(), displayTrajectory(), getExternalImage(), and getExternalImage().

projectCameraTrajectory() [4/4]

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory ( const vpImage< vpRGBa > & I, const vpHomogeneousMatrix & cMo_, const vpHomogeneousMatrix & fMo_, const vpHomogeneousMatrix & cMf )

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1572 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

saturateVelocities()

vpColVector vpRobot::saturateVelocities ( const vpColVector & v_in, const vpColVector & v_max, bool verbose = false )

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns

Saturated velocities.

Exceptions

vpRobotException::dimensionError

: If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
 
#include <visp3/robot/vpRobot.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
 
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
 
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
 
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
 
  return 0;
}

Definition at line 162 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpRobotAfma6::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

set_artCoord()

void vpRobotWireFrameSimulator::set_artCoord ( const vpColVector & coord )

inlineprotected

Definition at line 357 of file vpRobotWireFrameSimulator.h.

References artCoord, and m_mutex_artCoord.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

set_artVel()

void vpRobotWireFrameSimulator::set_artVel ( const vpColVector & vel )

inlineprotected

Definition at line 371 of file vpRobotWireFrameSimulator.h.

References artVel, and m_mutex_artVel.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

set_displayBusy()

void vpRobotWireFrameSimulator::set_displayBusy ( const bool & status )

inlineprotected

Definition at line 392 of file vpRobotWireFrameSimulator.h.

References displayBusy, and m_mutex_display.

Referenced by getInternalView(), getInternalView(), vpSimulatorAfma6::init(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

set_fMo()

void vpRobotWireFrameSimulator::set_fMo ( const vpHomogeneousMatrix & fMo_ )

inline

Set the pose between the object and the fixed world frame.

Parameters

fMo_	: The pose between the object and the fixed world frame.

Definition at line 319 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::fMo.

set_velocity()

void vpRobotWireFrameSimulator::set_velocity ( const vpColVector & vel )

inlineprotected

Definition at line 385 of file vpRobotWireFrameSimulator.h.

References m_mutex_velocity, and velocity.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpSimulatorAfma6::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

setCameraColor()

void vpRobotWireFrameSimulator::setCameraColor ( const vpColor & col )

inline

Set the color used to display the camera in the external view.

Parameters

col	: The desired color.

Definition at line 221 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::camColor.

setCameraPositionRelObj()

void vpWireFrameSimulator::setCameraPositionRelObj ( const vpHomogeneousMatrix & cMo_ )

inlineinherited

Set the transformation between the camera frame and the object frame.

Parameters

cMo_	: The pose of the object in the camera frame.

Examples

servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 467 of file vpWireFrameSimulator.h.

References fMc, fMo, vpHomogeneousMatrix::inverse(), and rotz.

setCameraPositionRelWorld()

void vpWireFrameSimulator::setCameraPositionRelWorld ( const vpHomogeneousMatrix & fMc_ )

inlineinherited

Set the position of the the world reference frame relative to the camera.

Parameters

fMc_	: The pose of the camera.

Definition at line 479 of file vpWireFrameSimulator.h.

References cMo, fMo, vpHomogeneousMatrix::inverse(), and rotz.

setCameraSizeFactor()

void vpWireFrameSimulator::setCameraSizeFactor ( float factor )

inlineinherited

Set the parameter which enables to choose the size of the main camera in the external camera views. By default this parameter is set to 1.

Parameters

factor

: The ration for the camera size.

Definition at line 491 of file vpWireFrameSimulator.h.

References cameraFactor.

setCameraTrajectoryColor()

void vpWireFrameSimulator::setCameraTrajectoryColor ( const vpColor & col )

inlineinherited

Set the color used to display the camera trajectory in the external view.

Parameters

col	: The desired color.

Definition at line 499 of file vpWireFrameSimulator.h.

References camTrajColor.

setCameraTrajectoryDisplayType()

void vpWireFrameSimulator::setCameraTrajectoryDisplayType ( const vpCameraTrajectoryDisplayType & camTraj_type )

inlineinherited

Set the way to display the history of the main camera trajectory in the main external view. The choice is given between displaying lines and points.

Parameters

camTraj_type

: The chosen way to display the camera trajectory.

Definition at line 508 of file vpWireFrameSimulator.h.

setConstantSamplingTimeMode()

void vpRobotWireFrameSimulator::setConstantSamplingTimeMode ( const bool _constantSamplingTimeMode )

inline

Set the flag used to force the sampling time in the thread computing the robot's displacement to a constant value; see setSamplingTime(). It may be useful if the main thread (computing the features) is very time consuming. False by default.

Parameters

_constantSamplingTimeMode

: The new value of the constantSamplingTimeMode flag.

Definition at line 232 of file vpRobotWireFrameSimulator.h.

References constantSamplingTimeMode.

setCurrentViewColor()

void vpRobotWireFrameSimulator::setCurrentViewColor ( const vpColor & col )

inline

Set the color used to display the object at the current position in the robot's camera view.

Parameters

col	: The desired color.

Definition at line 243 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::curColor.

setDesiredCameraPosition()

void vpRobotWireFrameSimulator::setDesiredCameraPosition ( const vpHomogeneousMatrix & cdMo_ )

inline

Set the desired position of the robot's camera relative to the object.

Parameters

cdMo_

: The desired pose of the camera.

Definition at line 258 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::setDesiredCameraPosition().

setDesiredViewColor()

void vpRobotWireFrameSimulator::setDesiredViewColor ( const vpColor & col )

inline

Set the color used to display the object at the desired position in the robot's camera view.

Parameters

col	: The desired color.

Definition at line 251 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::desColor.

setDisplayCameraTrajectory()

void vpWireFrameSimulator::setDisplayCameraTrajectory ( const bool & do_display )

inlineinherited

Enable or disable the displaying of the camera trajectory in the main external camera view.

By default the trajectory is displayed.

Parameters

do_display

: Set to true to display the camera trajectory.

Definition at line 539 of file vpWireFrameSimulator.h.

setDisplayRobotType()

void vpRobotWireFrameSimulator::setDisplayRobotType ( const vpDisplayRobotType dispType )

inline

Set the way to draw the robot. Depending on what you choose you can display a 3D wireframe model or a set of lines linking the frames used to compute the geometrical model.

Parameters

dispType

: Type of display. Can be MODEL_3D or MODEL_DH.

Definition at line 270 of file vpRobotWireFrameSimulator.h.

References displayType.

setExternalCameraParameters()

void vpWireFrameSimulator::setExternalCameraParameters ( const vpCameraParameters & cam )

inlineinherited

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples

servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 546 of file vpWireFrameSimulator.h.

References px_ext, and py_ext.

Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().

setExternalCameraPosition()

void vpRobotWireFrameSimulator::setExternalCameraPosition ( const vpHomogeneousMatrix & camMf_ )

inline

Set the external camera point of view.

Parameters

camMf_

: The pose of the external camera relative to the world reference frame.

Definition at line 277 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::setExternalCameraPosition().

Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().

setGraphicsThickness()

void vpRobotWireFrameSimulator::setGraphicsThickness ( unsigned int thickness )

inline

Specify the thickness of the graphics drawings.

Definition at line 284 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::thickness_.

setInternalCameraParameters()

void vpWireFrameSimulator::setInternalCameraParameters ( const vpCameraParameters & cam )

inlineinherited

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples

servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 577 of file vpWireFrameSimulator.h.

References px_int, and py_int.

setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max

: Maximum rotational velocity expressed in rad/s.

Examples

servoMomentPoints.cpp.

Definition at line 259 of file vpRobot.cpp.

References maxRotationVelocity.

Referenced by init(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max

: Maximum translation velocity expressed in m/s.

Examples

servoMomentPoints.cpp.

Definition at line 238 of file vpRobot.cpp.

References maxTranslationVelocity.

Referenced by init(), and vpSimulatorAfma6::setPosition().

setNbPtTrajectory()

void vpWireFrameSimulator::setNbPtTrajectory ( unsigned int nbPt )

inlineinherited

Set the maximum number of main camera's positions which are stored. Those position can be displayed in the external camera field of view. By default this parameter is set to 1000.

Parameters

nbPt	: The desired number of position which are saved.

Definition at line 590 of file vpWireFrameSimulator.h.

References nbrPtLimit.

setPosition()

virtual void vpRobot::setPosition ( const vpRobot::vpControlFrameType frame, const vpColVector & q )

pure virtualinherited

Set a displacement (frame has to be specified) in position control.

Implemented in vpRobotAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotFranka, vpRobotKinova, vpRobotPololuPtu, vpRobotPtu46, vpRobotTemplate, vpRobotUniversalRobots, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, and vpSimulatorViper850.

References setRobotState().

setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 206 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpSimulatorViper850::setVelocity().

setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType newState )

virtualinherited

Reimplemented in vpRobotAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotFranka, vpRobotPololuPtu, vpRobotPtu46, vpRobotUniversalRobots, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, and vpSimulatorViper850.

Definition at line 200 of file vpRobot.cpp.

Referenced by setPosition(), vpRobotCamera::setPosition(), vpSimulatorCamera::setPosition(), vpRobotAfma6::setRobotState(), vpRobotBiclops::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPololuPtu::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

setSamplingTime()

void vpRobotWireFrameSimulator::setSamplingTime ( const double & delta_t )

inlinevirtual

Set the sampling time.

Parameters

delta_t

: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Since the wireframe simulator is threaded, the sampling time is set to vpTime::getMinTimeForUsleepCall() / 1000 seconds.

Reimplemented from vpRobotSimulator.

Definition at line 295 of file vpRobotWireFrameSimulator.h.

References vpRobotSimulator::delta_t_, and vpTime::getMinTimeForUsleepCall().

Referenced by vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

setSingularityManagement()

void vpRobotWireFrameSimulator::setSingularityManagement ( bool sm )

inline

Set the parameter which enable or disable the singularity management.

Definition at line 307 of file vpRobotWireFrameSimulator.h.

References singularityManagement.

setVelocity()

virtual void vpRobot::setVelocity ( const vpRobot::vpControlFrameType frame, const vpColVector & vel )

pure virtualinherited

Set the velocity (frame has to be specified) that will be applied to the velocity controller.

Implemented in vpRobotAfma6, vpRobotBiclops, vpRobotCamera, vpRobotFlirPtu, vpRobotFranka, vpRobotKinova, vpRobotPioneer, vpRobotPololuPtu, vpRobotPtu46, vpRobotTemplate, vpRobotUniversalRobots, vpRobotViper650, vpRobotViper850, vpSimulatorAfma6, vpSimulatorCamera, vpSimulatorPioneer, vpSimulatorPioneerPan, and vpSimulatorViper850.

setVerbose()

void vpRobotWireFrameSimulator::setVerbose ( bool verbose )

inline

Activates extra printings when the robot reaches joint limits...

Definition at line 312 of file vpRobotWireFrameSimulator.h.

References vpRobot::verbose_.

updateArticularPosition()

virtual void vpRobotWireFrameSimulator::updateArticularPosition ( )

protectedpure virtual

Method launched by the thread to compute the position of the robot in the articular frame.

Implemented in vpSimulatorAfma6, and vpSimulatorViper850.

Member Data Documentation

areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 111 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

artCoord

vpColVector vpRobotWireFrameSimulator::artCoord

protected

The articular coordinates

Definition at line 106 of file vpRobotWireFrameSimulator.h.

Referenced by get_artCoord(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), set_artCoord(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

artVel

vpColVector vpRobotWireFrameSimulator::artVel

protected

The articular velocity

Definition at line 108 of file vpRobotWireFrameSimulator.h.

Referenced by get_artVel(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), set_artVel(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

blocked

bool vpWireFrameSimulator::blocked

protectedinherited

Definition at line 265 of file vpWireFrameSimulator.h.

Referenced by navigation(), navigation(), and vpWireFrameSimulator().

blockedr

bool vpWireFrameSimulator::blockedr

protectedinherited

Definition at line 262 of file vpWireFrameSimulator.h.

Referenced by navigation(), navigation(), and vpWireFrameSimulator().

blockedt

bool vpWireFrameSimulator::blockedt

protectedinherited

Definition at line 264 of file vpWireFrameSimulator.h.

Referenced by navigation(), navigation(), and vpWireFrameSimulator().

blockedz

bool vpWireFrameSimulator::blockedz

protectedinherited

Definition at line 263 of file vpWireFrameSimulator.h.

Referenced by navigation(), navigation(), and vpWireFrameSimulator().

camColor

vpColor vpWireFrameSimulator::camColor

protectedinherited

Definition at line 246 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), vpRobotWireFrameSimulator::setCameraColor(), setCameraColor(), and vpWireFrameSimulator().

camera

Bound_scene vpWireFrameSimulator::camera

protectedinherited

Definition at line 233 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpRobotWireFrameSimulator::initScene(), vpRobotWireFrameSimulator::initScene(), vpRobotWireFrameSimulator::initScene(), vpRobotWireFrameSimulator::initScene(), initScene(), initScene(), initScene(), initScene(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

cameraFactor

float vpWireFrameSimulator::cameraFactor

protectedinherited

Definition at line 280 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), initScene(), initScene(), initScene(), initScene(), setCameraSizeFactor(), and vpWireFrameSimulator().

cameraParam

vpCameraParameters vpRobotWireFrameSimulator::cameraParam

protected

External camera parameters

Definition at line 137 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

cameraTrajectory

std::list<vpImagePoint> vpWireFrameSimulator::cameraTrajectory

protectedinherited

Definition at line 254 of file vpWireFrameSimulator.h.

Referenced by deleteCameraPositionHistory(), getExternalImage(), getExternalImage(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

camMf

vpHomogeneousMatrix vpWireFrameSimulator::camMf

protectedinherited

Definition at line 238 of file vpWireFrameSimulator.h.

Referenced by getExternalCameraPosition(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), projectCameraTrajectory(), projectCameraTrajectory(), and vpWireFrameSimulator().

camMf2

vpHomogeneousMatrix vpWireFrameSimulator::camMf2

protectedinherited

Definition at line 267 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), setExternalCameraPosition(), and vpWireFrameSimulator().

camTrajColor

vpColor vpWireFrameSimulator::camTrajColor

protectedinherited

Definition at line 247 of file vpWireFrameSimulator.h.

Referenced by displayTrajectory(), displayTrajectory(), getExternalImage(), getExternalImage(), setCameraTrajectoryColor(), and vpWireFrameSimulator().

camTrajType

vpCameraTrajectoryDisplayType vpWireFrameSimulator::camTrajType

protectedinherited

Definition at line 282 of file vpWireFrameSimulator.h.

Referenced by displayTrajectory(), displayTrajectory(), getExternalImage(), getExternalImage(), and vpWireFrameSimulator().

cdMo

vpHomogeneousMatrix vpWireFrameSimulator::cdMo

protectedinherited

Definition at line 241 of file vpWireFrameSimulator.h.

Referenced by getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), and vpWireFrameSimulator().

cMo

vpHomogeneousMatrix vpWireFrameSimulator::cMo

protectedinherited

Definition at line 240 of file vpWireFrameSimulator.h.

Referenced by get_cMo(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), setCameraPositionRelWorld(), and vpWireFrameSimulator().

constantSamplingTimeMode

bool vpRobotWireFrameSimulator::constantSamplingTimeMode

protected

Flag used to force the sampling time in the thread computing the robot's displacement to a constant value (samplingTime). It may be useful if the main thread (computing the features) is very time consuming. False by default.

Definition at line 158 of file vpRobotWireFrameSimulator.h.

Referenced by setConstantSamplingTimeMode(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

curColor

vpColor vpWireFrameSimulator::curColor

protectedinherited

Definition at line 248 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::setCurrentViewColor(), setCurrentViewColor(), and vpWireFrameSimulator().

delta_t_

double vpRobotSimulator::delta_t_

protectedinherited

Definition at line 60 of file vpRobotSimulator.h.

Referenced by vpRobotWireFrameSimulator::setSamplingTime(), vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), and vpRobotSimulator().

desColor

vpColor vpWireFrameSimulator::desColor

protectedinherited

Definition at line 249 of file vpWireFrameSimulator.h.

Referenced by getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::setDesiredViewColor(), setDesiredViewColor(), and vpWireFrameSimulator().

desiredObject

vpSceneDesiredObject vpWireFrameSimulator::desiredObject

protectedinherited

Definition at line 244 of file vpWireFrameSimulator.h.

Referenced by getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), initScene(), initScene(), and vpWireFrameSimulator().

desiredScene

Bound_scene vpWireFrameSimulator::desiredScene

protectedinherited

Definition at line 232 of file vpWireFrameSimulator.h.

Referenced by getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), initScene(), initScene(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

display

vpDisplayX vpRobotWireFrameSimulator::display

protected

Definition at line 140 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

displayAllowed

bool vpRobotWireFrameSimulator::displayAllowed

protected

Definition at line 153 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

displayBusy

bool vpRobotWireFrameSimulator::displayBusy

protected

Definition at line 125 of file vpRobotWireFrameSimulator.h.

Referenced by get_displayBusy(), set_displayBusy(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

displayCamera

bool vpWireFrameSimulator::displayCamera

protectedinherited

Definition at line 277 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpRobotWireFrameSimulator::initScene(), vpRobotWireFrameSimulator::initScene(), vpRobotWireFrameSimulator::initScene(), vpRobotWireFrameSimulator::initScene(), initScene(), initScene(), initScene(), initScene(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

displayCameraTrajectory

bool vpWireFrameSimulator::displayCameraTrajectory

protectedinherited

Definition at line 253 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), getExternalImage(), and vpWireFrameSimulator().

displayDesiredObject

bool vpWireFrameSimulator::displayDesiredObject

protectedinherited

Definition at line 276 of file vpWireFrameSimulator.h.

Referenced by getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), initScene(), initScene(), initScene(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

displayImageSimulator

bool vpWireFrameSimulator::displayImageSimulator

protectedinherited

Definition at line 278 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), getInternalImage(), initScene(), initScene(), initScene(), initScene(), initScene(), initScene(), and vpWireFrameSimulator().

displayObject

bool vpWireFrameSimulator::displayObject

protectedinherited

Definition at line 275 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), initScene(), initScene(), initScene(), initScene(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

displayType

vpDisplayRobotType vpRobotWireFrameSimulator::displayType

protected

Definition at line 151 of file vpRobotWireFrameSimulator.h.

Referenced by setDisplayRobotType(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 103 of file vpRobot.h.

Referenced by vpRobotAfma6::get_eJe(), vpRobotBiclops::get_eJe(), vpRobotCamera::get_eJe(), vpRobotFlirPtu::get_eJe(), vpRobotFlirPtu::get_eJe(), vpRobotKinova::get_eJe(), vpRobotPioneer::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpSimulatorCamera::get_eJe(), operator=(), vpRobot(), and vpRobot().

eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 105 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

extCamChanged

bool vpWireFrameSimulator::extCamChanged

protectedinherited

Definition at line 284 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), getExternalImage(), setExternalCameraPosition(), and vpWireFrameSimulator().

f2Mf

vpHomogeneousMatrix vpWireFrameSimulator::f2Mf

protectedinherited

Definition at line 268 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), setExternalCameraPosition(), and vpWireFrameSimulator().

fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

Referenced by vpRobotAfma6::get_fJe(), vpRobotBiclops::get_fJe(), vpRobotFlirPtu::get_fJe(), vpRobotFlirPtu::get_fJe(), vpRobotKinova::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotPtu46::get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), operator=(), vpRobot(), and vpRobot().

fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 109 of file vpRobot.h.

Referenced by operator=(), vpRobot(), and vpRobot().

fMc

vpHomogeneousMatrix vpWireFrameSimulator::fMc

protectedinherited

Definition at line 237 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), getExternalImage(), setCameraPositionRelObj(), and vpWireFrameSimulator().

fMi

vpHomogeneousMatrix* vpRobotWireFrameSimulator::fMi

protected

Table containing all the homogeneous matrices between the reference frame of the robot and the frames you used to compute the Denavit-Hartenberg representation

If you use a camera at the end of the effector, the last homogeneous matrix has to be the one between the reference frame and the camera frame (fMc)

Definition at line 103 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::get_fMi(), vpSimulatorViper850::get_fMi(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), vpRobotWireFrameSimulator(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

fMo

vpHomogeneousMatrix vpWireFrameSimulator::fMo

protectedinherited

Definition at line 236 of file vpWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::get_cMo(), vpRobotWireFrameSimulator::get_fMo(), get_fMo(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), vpRobotWireFrameSimulator::set_fMo(), setCameraPositionRelObj(), setCameraPositionRelWorld(), and vpWireFrameSimulator().

fMoList

std::list<vpHomogeneousMatrix> vpWireFrameSimulator::fMoList

protectedinherited

Definition at line 256 of file vpWireFrameSimulator.h.

Referenced by deleteCameraPositionHistory(), get_fMo_History(), getExternalImage(), getExternalImage(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

I

vpImage<vpRGBa> vpRobotWireFrameSimulator::I

Definition at line 82 of file vpRobotWireFrameSimulator.h.

Referenced by getExternalCameraParameters(), getInternalView(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

jointLimit

bool vpRobotWireFrameSimulator::jointLimit

protected

True if one of the joint reach the limit

Definition at line 130 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

jointLimitArt

unsigned int vpRobotWireFrameSimulator::jointLimitArt

protected

Index of the joint which is in limit

Definition at line 132 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_artCoord

std::mutex vpRobotWireFrameSimulator::m_mutex_artCoord

protected

Definition at line 117 of file vpRobotWireFrameSimulator.h.

Referenced by get_artCoord(), set_artCoord(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_artVel

std::mutex vpRobotWireFrameSimulator::m_mutex_artVel

protected

Definition at line 116 of file vpRobotWireFrameSimulator.h.

Referenced by get_artVel(), set_artVel(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_display

std::mutex vpRobotWireFrameSimulator::m_mutex_display

protected

Definition at line 119 of file vpRobotWireFrameSimulator.h.

Referenced by get_displayBusy(), set_displayBusy(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_eMc

std::mutex vpRobotWireFrameSimulator::m_mutex_eMc

protected

Definition at line 115 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_fMi

std::mutex vpRobotWireFrameSimulator::m_mutex_fMi

protected

Definition at line 114 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6::get_fMi(), vpSimulatorViper850::get_fMi(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_frame

std::mutex vpRobotWireFrameSimulator::m_mutex_frame

protected

Definition at line 121 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_robotStop

std::mutex vpRobotWireFrameSimulator::m_mutex_robotStop

protected

Definition at line 120 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), vpRobotWireFrameSimulator(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

m_mutex_scene

std::mutex vpRobotWireFrameSimulator::m_mutex_scene

protected

Definition at line 123 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorAfma6::initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), initScene(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_setVelocityCalled

std::mutex vpRobotWireFrameSimulator::m_mutex_setVelocityCalled

protected

Definition at line 122 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_mutex_velocity

std::mutex vpRobotWireFrameSimulator::m_mutex_velocity

protected

Definition at line 118 of file vpRobotWireFrameSimulator.h.

Referenced by get_velocity(), set_velocity(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

m_thread

std::thread* vpRobotWireFrameSimulator::m_thread

protected

Definition at line 112 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator(), vpRobotWireFrameSimulator(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorViper850::vpSimulatorViper850(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by getMaxRotationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), operator=(), setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobot(), vpRobot(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot(), and vpRobot().

maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 95 of file vpRobot.h.

Referenced by getMaxTranslationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), operator=(), setMaxTranslationVelocity(), vpRobot(), and vpRobot().

maxTranslationVelocityDefault

BEGIN_VISP_NAMESPACE const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 96 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot(), and vpRobot().

nbrPtLimit

unsigned int vpWireFrameSimulator::nbrPtLimit

protectedinherited

Definition at line 257 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), getExternalImage(), setNbPtTrajectory(), and vpWireFrameSimulator().

nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 101 of file vpRobot.h.

Referenced by vpRobotPololuPtu::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotPololuPtu::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotKinova::getJointPosition(), getNDof(), vpRobotPololuPtu::getPosition(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobotUniversalRobots::init(), operator=(), vpRobotUniversalRobots::readPosFile(), vpRobotKinova::setDoF(), vpRobotKinova::setJointVelocity(), vpRobotKinova::setPosition(), vpRobotPololuPtu::setPosition(), vpRobotFlirPtu::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPololuPtu::setVelocity(), vpRobotTemplate::setVelocity(), vpRobot(), vpRobot(), and vpRobotPololuPtu::vpRobotPololuPtu().

object

vpSceneObject vpWireFrameSimulator::object

protectedinherited

Definition at line 243 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator().

objectImage

std::list<vpImageSimulator> vpWireFrameSimulator::objectImage

protectedinherited

Definition at line 234 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), getInternalImage(), initScene(), initScene(), initScene(), initScene(), and vpWireFrameSimulator().

old_iPr

vpImagePoint vpWireFrameSimulator::old_iPr

protectedinherited

Definition at line 259 of file vpWireFrameSimulator.h.

Referenced by navigation(), navigation(), and vpWireFrameSimulator().

old_iPt

vpImagePoint vpWireFrameSimulator::old_iPt

protectedinherited

Definition at line 261 of file vpWireFrameSimulator.h.

Referenced by navigation(), navigation(), and vpWireFrameSimulator().

old_iPz

vpImagePoint vpWireFrameSimulator::old_iPz

protectedinherited

Definition at line 260 of file vpWireFrameSimulator.h.

Referenced by navigation(), navigation(), and vpWireFrameSimulator().

poseList

std::list<vpHomogeneousMatrix> vpWireFrameSimulator::poseList

protectedinherited

Definition at line 255 of file vpWireFrameSimulator.h.

Referenced by deleteCameraPositionHistory(), get_cMo_History(), getExternalImage(), getExternalImage(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

px_ext

double vpWireFrameSimulator::px_ext

protectedinherited

Definition at line 272 of file vpWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::getExternalCameraParameters(), getExternalCameraParameters(), getExternalCameraParameters(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), setExternalCameraParameters(), and vpWireFrameSimulator().

px_int

double vpWireFrameSimulator::px_int

protectedinherited

Definition at line 270 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), getInternalCameraParameters(), getInternalCameraParameters(), getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), vpSimulatorViper850::setCameraParameters(), setInternalCameraParameters(), and vpWireFrameSimulator().

py_ext

double vpWireFrameSimulator::py_ext

protectedinherited

Definition at line 273 of file vpWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::getExternalCameraParameters(), getExternalCameraParameters(), getExternalCameraParameters(), vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), setExternalCameraParameters(), and vpWireFrameSimulator().

py_int

double vpWireFrameSimulator::py_int

protectedinherited

Definition at line 271 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), getInternalCameraParameters(), getInternalCameraParameters(), getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpSimulatorAfma6::setCameraParameters(), vpSimulatorViper850::setCameraParameters(), setInternalCameraParameters(), and vpWireFrameSimulator().

qmax

double* vpRobot::qmax

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by operator=(), vpRobot(), vpRobot(), and ~vpRobot().

qmin

double* vpRobot::qmin

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by operator=(), vpRobot(), vpRobot(), and ~vpRobot().

refMo

vpHomogeneousMatrix vpWireFrameSimulator::refMo

protectedinherited

Definition at line 239 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator().

robotArms

Bound_scene* vpRobotWireFrameSimulator::robotArms

protected

Contains the 3D model of the robot's arms

Definition at line 93 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), vpSimulatorAfma6::init(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpRobotWireFrameSimulator(), vpRobotWireFrameSimulator(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

robotStop

bool vpRobotWireFrameSimulator::robotStop

protected

True if the robot has to be stopped

Definition at line 128 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), vpRobotWireFrameSimulator(), vpSimulatorAfma6::~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

rotz

vpHomogeneousMatrix vpWireFrameSimulator::rotz

protectedinherited

Definition at line 286 of file vpWireFrameSimulator.h.

Referenced by displayTrajectory(), displayTrajectory(), get_cMo(), get_cMo_History(), getExternalCameraPosition(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), projectCameraTrajectory(), projectCameraTrajectory(), projectCameraTrajectory(), projectCameraTrajectory(), setCameraPositionRelObj(), setCameraPositionRelWorld(), setDesiredCameraPosition(), setExternalCameraPosition(), and vpWireFrameSimulator().

scene

Bound_scene vpWireFrameSimulator::scene

protectedinherited

Definition at line 231 of file vpWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getExternalImage(), getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), initScene(), initScene(), initScene(), initScene(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

sceneInitialized

bool vpWireFrameSimulator::sceneInitialized

protectedinherited

Definition at line 251 of file vpWireFrameSimulator.h.

Referenced by getInternalImage(), getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpRobotWireFrameSimulator::getInternalView(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), initScene(), initScene(), initScene(), initScene(), vpWireFrameSimulator(), and ~vpWireFrameSimulator().

setVelocityCalled

bool vpRobotWireFrameSimulator::setVelocityCalled

protected

Flag used to specify to the thread managing the robot displacements that the setVelocity() method has been called.

Definition at line 162 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

singularityManagement

bool vpRobotWireFrameSimulator::singularityManagement

protected

True if the singularity are automatically managed

Definition at line 134 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), setSingularityManagement(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

size_fMi

unsigned int vpRobotWireFrameSimulator::size_fMi

protected

Size of the fMi table

Definition at line 96 of file vpRobotWireFrameSimulator.h.

Referenced by get_cMo(), getInternalView(), getInternalView(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

tcur

double vpRobotWireFrameSimulator::tcur

protected

cpu time at the begining of the robot's movement

Definition at line 88 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), vpRobotWireFrameSimulator(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorAfma6::vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), and vpSimulatorViper850::vpSimulatorViper850().

thickness_

unsigned int vpWireFrameSimulator::thickness_

protectedinherited

Definition at line 288 of file vpWireFrameSimulator.h.

Referenced by display_scene(), display_scene(), displayTrajectory(), displayTrajectory(), getExternalImage(), getExternalImage(), vpRobotWireFrameSimulator::setGraphicsThickness(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpWireFrameSimulator().

tprev

double vpRobotWireFrameSimulator::tprev

protected

cpu time at the end of the last robot's movement

Definition at line 90 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

velocity

vpColVector vpRobotWireFrameSimulator::velocity

protected

The velocity in the current frame (articular, camera or reference)

Definition at line 110 of file vpRobotWireFrameSimulator.h.

Referenced by get_velocity(), set_velocity(), vpRobotWireFrameSimulator(), and vpRobotWireFrameSimulator().

verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 115 of file vpRobot.h.

Referenced by vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), operator=(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), setVerbose(), vpRobotWireFrameSimulator::setVerbose(), vpSimulatorAfma6::updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpRobot(), vpRobot(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().