/usr/include/visp/vpRobotTemplate.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.
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*
* $Id: vpRobotTemplate.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:
* Defines a robot just to show which function you must implement.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#ifndef vpRobotTemplate_H
#define vpRobotTemplate_H
/*!
\file vpRobotTemplate.h
\brief class that defines a robot just to show which function you must implement
*/
#include <visp/vpRobot.h>
/*!
\class vpRobotTemplate
\brief class that defines a robot just to show which function you must implement
*/
class VISP_EXPORT vpRobotTemplate : public vpRobot
{
public:
//! basic initialization
void init() ;
//! constructor
vpRobotTemplate() ;
//! destructor
virtual ~vpRobotTemplate() ;
//! get the robot Jacobian expressed in the end-effector frame
void get_eJe(vpMatrix &_eJe) ;
//! get the robot Jacobian expressed in the robot reference frame
void get_fJe(vpMatrix &_fJe) ;
//! send to the controller a velocity expressed in the camera frame
void sendCameraVelocity(const vpColVector &v) ;
//! send to the controller a velocity expressed in the articular frame
void sendArticularVelocity(const vpColVector &qdot) ;
//! send to the controller a velocity (frame as to be specified)
void setVelocity(const vpRobot::vpControlFrameType frame,
const vpColVector &vel) ;
//! get a position expressed in the robot reference frame
void getPosition(vpPoseVector &q) ;
//! get a position expressed in the articular frame
void getArticularPosition(vpColVector &q) ;
//! get a displacement (frame as to be specified)
void getPosition(const vpRobot::vpControlFrameType frame,
vpColVector &q) ;
//! set a displacement (frame as to be specified)
void setPosition(const vpRobot::vpControlFrameType frame,
const vpColVector &q) ;
//! get a displacement (frame as to be specified)
void getDisplacement(const vpRobot::vpControlFrameType frame,
vpColVector &q) ;
} ;
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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