Visual Servoing Platform version 3.6.0
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vpRobotSimulator.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Basic class used to make robot simulators.
33 *
34*****************************************************************************/
35
36#ifndef vpRobotSimulator_HH
37#define vpRobotSimulator_HH
38
44#include <visp3/core/vpConfig.h>
45#include <visp3/core/vpTime.h>
46#include <visp3/core/vpVelocityTwistMatrix.h>
47#include <visp3/robot/vpRobot.h>
48
59class VISP_EXPORT vpRobotSimulator : public vpRobot
60{
61protected:
62 double delta_t_; // sampling time in second
63
64public:
69 virtual ~vpRobotSimulator(){};
70
79 inline double getSamplingTime() const { return (this->delta_t_); }
80
88 virtual inline void setSamplingTime(const double &delta_t) { this->delta_t_ = delta_t; }
90};
91
92#endif
This class aims to be a basis used to create all the robot simulators.
virtual void setSamplingTime(const double &delta_t)
virtual ~vpRobotSimulator()
double getSamplingTime() const
Class that defines a generic virtual robot.
Definition vpRobot.h:57