Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpQbSoftHand.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 * Interface for the qb robotics qbSoftHand device.
33 *
34*****************************************************************************/
35
36#ifndef _vpQbSoftHand_h_
37#define _vpQbSoftHand_h_
38
39#include <visp3/core/vpConfig.h>
40#ifdef VISP_HAVE_QBDEVICE
41
42#include <visp3/core/vpColVector.h>
43#include <visp3/robot/vpQbDevice.h>
44
91class VISP_EXPORT vpQbSoftHand : public vpQbDevice
92{
93public:
95 virtual ~vpQbSoftHand();
96
97 void getCurrent(vpColVector &current, const int &id = 1);
98 void getPosition(vpColVector &position, const int &id = 1);
99
100 void setPosition(const vpColVector &position, const int &id = 1);
101 void setPosition(const vpColVector &position, double speed_factor, double stiffness, const int &id = 1);
102};
103
104#endif
105#endif
Implementation of column vector and the associated operations.