/usr/include/visp/vpSimulatorCamera.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpSimulatorCamera.h 2456 2010-01-07 10:33:12Z nmelchio $
*
* 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:
* Defines the simplest robot : a free flying camera.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#ifndef vpSimulatorCamera_H
#define vpSimulatorCamera_H
/*!
\file vpSimulatorCamera.h
\brief class that defines the simplest robot : a free flying camera
*/
#include <visp/vpColVector.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMatrix.h>
#include <visp/vpRobot.h>
#include <visp/vpRobotSimulator.h>
/*!
\class vpSimulatorCamera
\ingroup RobotSimuWithoutVisu
\brief Class that defines the simplest robot: a free flying camera.
This free flying camera has 6 dof; 3 in translation and 3 in rotation.
It evolves as a gentry robot with respect to a world frame. This class
is similar to vpRobotCamera class except that here the position of the robot
is provided as the transformation from world frame to camera frame; wMc. This
representation is more intuitive than the one implemented in vpRobotCamera
where the transformation from camera to world frame is considered; cMw.
For this particular simulated robot, the end-effector and camera frame are confused.
That means that the cMe transformation is equal to identity.
The robot jacobian expressed in the end-effector frame
\f$ {^e}{\bf J}_e \f$ is also set to identity (see get_eJe()).
The following code shows how to control this robot in position and velocity.
\code
#include <visp/vpSimulatorCamera.h>
int main()
{
vpHomogeneousMatrix wMc;
vpSimulatorCamera robot;
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "Default position of the camera in the world frame wMc:\n" << wMc << std::endl;
wMc[2][3] = 1.; // Camera frame is 1 meter along z axis in front of the world frame
robot.setPosition(wMc); // Set the new position of the camera in the world frame
std::cout << "New position of the camera in the world frame wMc:\n" << wMc << std::endl;
robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
robot.setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
robot.setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
vpColVector v(6);
v = 0;
v[2] = 1.; // set v_z to 1 m/s
robot.setVelocity(vpRobot::CAMERA_FRAME, v);
// The robot has moved from 0.1 meters along the z axis
robot.getPosition(wMc); // Position of the camera in the world frame
std::cout << "New position of the camera wMc:\n" << wMc << std::endl;
}
\endcode
To know how this class can be used to achieve a visual servoing simulation,
you can follow the \ref tutorial-ibvs.
*/
class VISP_EXPORT vpSimulatorCamera : public vpRobotSimulator
{
protected:
vpHomogeneousMatrix wMc_; // world to camera
public:
vpSimulatorCamera() ;
virtual ~vpSimulatorCamera() ;
public:
void get_cVe(vpVelocityTwistMatrix &cVe);
void get_eJe(vpMatrix &eJe);
void getPosition(vpHomogeneousMatrix &wMc) const;
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q);
void setPosition(const vpHomogeneousMatrix &wMc);
void setVelocity(const vpRobot::vpControlFrameType frame,
const vpColVector &vel) ;
private:
void init() ;
// Non implemented virtual pure functions
void get_fJe(vpMatrix & /*_fJe */) {};
void getDisplacement(const vpRobot::vpControlFrameType /* frame */, vpColVector & /* q */) {};
void setPosition(const vpRobot::vpControlFrameType /* frame */, const vpColVector & /* q */) {};
} ;
#endif
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