/usr/include/visp/vpRobotPtu46.h is in libvisp-dev 2.8.0-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 | /****************************************************************************
*
* $Id: vpRobotPtu46.h 4317 2013-07-17 09:40:17Z 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 ptu-46 robot.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#ifdef VISP_HAVE_PTU46
#ifndef __vpROBOT_PTU46_H
#define __vpROBOT_PTU46_H
/* ------------------------------------------------------------------------ */
/* --- INCLUDES ----------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
/* --- GENERAL --- */
#include <iostream>
#include <stdio.h>
/* --- ViSP --- */
#include <visp/vpRobot.h>
#include <visp/vpPtu46.h>
#include <visp/vpColVector.h>
#include <visp/vpDebug.h>
#include <visp/vpVelocityTwistMatrix.h>
#include <ptu.h> // Contrib for Ptu-46 robot
/* ------------------------------------------------------------------------ */
/* --- CLASS ------------------------------------------------------------- */
/* ------------------------------------------------------------------------ */
/*!
\class vpRobotPtu46
\ingroup Ptu46 RobotDriver
\brief Interface for the Directed Perception ptu-46 pan, tilt head .
See http://www.DPerception.com for more details.
This class provide a position and a speed control interface for the ptu-46
head.
*/
class VISP_EXPORT vpRobotPtu46
:
public vpPtu46,
public vpRobot
{
private:
/*! \brief No copy constructor allowed. */
vpRobotPtu46 (const vpRobotPtu46 & ass);
/*! Object to control. This is a contribution. */
Ptu ptu;
private:
static bool robotAlreadyCreated;
double positioningVelocity;
int velocityMesureTempo;
char *device;
public:
static const double defaultPositioningVelocity;
vpRobotPtu46 (const char *device="/dev/ttyS0");
vpRobotPtu46 (vpRobotPtu46 * pub);
virtual ~vpRobotPtu46 (void);
void get_cMe(vpHomogeneousMatrix &_cMe) ;
void get_cVe(vpVelocityTwistMatrix &_cVe) ;
void get_eJe(vpMatrix &_eJe);
void get_fJe(vpMatrix &_fJe);
void getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &q);
void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q);
double getPositioningVelocity (void);
void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & q_dot);
vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
void init (void);
bool readPositionFile(const char *filename, vpColVector &q);
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) ;
void setPosition (const vpRobot::vpControlFrameType frame, const double &q1, const double &q2) ;
void setPosition(const char *filename) ;
void setPositioningVelocity (const double velocity);
vpRobot::vpRobotStateType setRobotState (vpRobot::vpRobotStateType newState);
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector & q_dot);
void stopMotion() ;
private:
void getCameraDisplacement(vpColVector &d);
void getArticularDisplacement(vpColVector &d);
};
#endif /* #ifndef __vpROBOT_PTU46_H */
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
#endif
|