/usr/include/visp/vpRobotBiclopsController.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpRobotBiclopsController.h 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 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:
* Interface for the Biclops robot.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#ifdef VISP_HAVE_BICLOPS
#ifndef __vpROBOT_BICLOPS_CONTROLLER_H
#define __vpROBOT_BICLOPS_CONTROLLER_H
/* ------------------------------------------------------------------------ */
/* --- INCLUDES ----------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
/* --- GENERAL --- */
#include <iostream> /* Classe std::ostream. */
#include <stdio.h> /* Classe std::ostream. */
#include <pthread.h> /* Classe std::ostream. */
#include <visp/vpConfig.h>
#include "Biclops.h" // Contrib for Biclops robot
#include "PMDUtils.h" // Contrib for Biclops robot
#ifdef WIN32
class VISP_EXPORT Biclops; //needed for dll creation
#endif
/* ------------------------------------------------------------------------ */
/* --- CLASS ------------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
/*!
\class vpRobotBiclopsController
\ingroup Biclops
\brief Interface to Biclops, pan, tilt, verge head for computer vision
applications.
See http://www.traclabs.com/tracbiclops.htm for more details.
This class uses libraries libBiclops.so, libUtils.so and libPMD.so and
includes Biclops.h and PMDUtils.h provided by Traclabs.
*/
class VISP_EXPORT vpRobotBiclopsController
{
public:
typedef enum {
STOP, /*!< Have to stop the robot. */
SPEED /*!< Can send the desired speed. */
} vpControllerStatusType;
public:
#ifndef DOXYGEN_SHOULD_SKIP_THIS
// SHM
typedef struct /* ControllerShm_struct */ {
vpControllerStatusType status[2];
double q_dot[2]; /*!< Desired speed. */
double actual_q[2]; /*!< Current measured position of each axes. */
double actual_q_dot[2]; /*!< Current measured velocity of each axes. */
bool jointLimit[2]; /*!< Indicates if an axe is in joint limit. */
} shmType;
#endif /* DOXYGEN_SHOULD_SKIP_THIS */
public:
vpRobotBiclopsController();
virtual ~vpRobotBiclopsController();
void init(const char *configfile);
void setPosition(const vpColVector & q, const double percentVelocity);
void setVelocity(const vpColVector & q_dot);
vpColVector getPosition();
vpColVector getActualPosition();
vpColVector getVelocity();
vpColVector getActualVelocity();
PMDAxisControl * getPanAxis() { return panAxis; };
PMDAxisControl * getTiltAxis() { return tiltAxis; };
PMDAxisControl * getVergeAxis() { return vergeAxis; };
void writeShm(shmType &shm);
shmType readShm();
bool isStopRequested()
{
return stopControllerThread_;
}
void stopRequest(bool stop)
{
stopControllerThread_ = stop;
}
private:
Biclops biclops; // THE interface to Biclops.
int axisMask;
// Pointers to each axis (populated once controller is initialized).
PMDAxisControl *panAxis;
PMDAxisControl *tiltAxis;
PMDAxisControl *vergeAxis;
PMDAxisControl::Profile panProfile;
PMDAxisControl::Profile tiltProfile;
PMDAxisControl::Profile vergeProfile;
shmType shm;
bool stopControllerThread_;
};
#endif /* #ifndef __vpROBOT_BICLOPS_CONTROLLER_H */
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
#endif
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