/usr/include/visp/vpRobotSimulator.h is in libvisp-dev 2.9.0-3+b2.
This file is owned by root:root, with mode 0o644.
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*
* $Id: vpRobotSimulator.h 4574 2014-01-09 08:48:51Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Basic class used to make robot simulators.
*
* Authors:
* Nicolas Melchior
*
*****************************************************************************/
#ifndef vpRobotSimulator_HH
#define vpRobotSimulator_HH
/*!
\file vpRobotSimulator.h
\brief Basic class used to make robot simulators.
*/
#include <visp/vpConfig.h>
#include <visp/vpRobot.h>
#include <visp/vpTime.h>
#include <visp/vpVelocityTwistMatrix.h>
/*!
\class vpRobotSimulator
\ingroup RobotSimuWithVisu, RobotSimuWithoutVisu
\brief This class aims to be a basis used to create all the
robot simulators.
*/
class VISP_EXPORT vpRobotSimulator : public vpRobot
{
protected:
double delta_t_; // sampling time in second
public:
vpRobotSimulator();
/*!
Basic destructor
*/
virtual ~vpRobotSimulator() {};
/*!
Return the sampling time.
\return Sampling time in second used to compute the robot displacement from
the velocity applied to the robot during this time.
*/
inline double getSamplingTime() const
{
return(this->delta_t_);
}
/*!
Set the sampling time.
\param delta_t : Sampling time in second used to compute the robot displacement from
the velocity applied to the robot during this time.
*/
virtual inline void setSamplingTime(const double &delta_t)
{
this->delta_t_ = delta_t;
}
};
#endif
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