36#include <visp3/core/vpConfig.h>
38#ifndef DOXYGEN_SHOULD_SKIP_THIS
39#ifdef VISP_HAVE_BICLOPS
41#ifndef _vpRobotBiclopsController_h_
42#define _vpRobotBiclopsController_h_
57class VISP_EXPORT Biclops;
79class VISP_EXPORT vpRobotBiclopsController
85 } vpControllerStatusType;
88#ifndef DOXYGEN_SHOULD_SKIP_THIS
91 vpControllerStatusType status[2];
94 double actual_q_dot[2];
117 vpRobotBiclopsController();
118 virtual ~vpRobotBiclopsController();
119 void init(
const std::string &configfile);
120 void setPosition(
const vpColVector &q,
double percentVelocity);
126 PMDAxisControl *getPanAxis() {
return panAxis; };
127 PMDAxisControl *getTiltAxis() {
return tiltAxis; };
128 PMDAxisControl *getVergeAxis() {
return vergeAxis; };
129 void writeShm(shmType &shm);
131 bool isStopRequested() {
return stopControllerThread_; }
133 void stopRequest(
bool stop) { stopControllerThread_ = stop; }
140 PMDAxisControl *panAxis;
141 PMDAxisControl *tiltAxis;
142 PMDAxisControl *vergeAxis;
144 PMDAxisControl::Profile panProfile;
145 PMDAxisControl::Profile tiltProfile;
146 PMDAxisControl::Profile vergeProfile;
149 bool stopControllerThread_;
Implementation of column vector and the associated operations.