/usr/include/visp/vpRobotPtu46.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: vpRobotPtu46.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:
* 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) const;
void get_cVe(vpVelocityTwistMatrix &_cVe) const;
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
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