39 #ifndef _vpVirtuose_h_
40 #define _vpVirtuose_h_
43 #include <visp3/core/vpConfig.h>
44 #include <visp3/core/vpException.h>
45 #include <visp3/core/vpPoseVector.h>
47 #ifdef VISP_HAVE_VIRTUOSE
49 #include <VirtuoseAPI.h>
151 void enableForceFeedback(
int enable);
157 VirtCommandType getCommandType()
const;
158 bool getDeadMan()
const;
159 bool getEmergencyStop()
const;
160 unsigned int getJointsNumber()
const;
162 VirtContext getHandler();
167 bool getPower()
const;
172 void setArticularForce(
const vpColVector &articularForce);
173 void setArticularPosition(
const vpColVector &articularPosition);
174 void setArticularVelocity(
const vpColVector &articularVelocity);
176 void setCommandType(
const VirtCommandType &type);
178 void setForceFactor(
const float &forceFactor);
179 void setIndexingMode(
const VirtIndexingType &type);
182 inline void setIpAddress(
const std::string &ip) { m_ip = ip; }
184 void setPeriodicFunction(VirtPeriodicFunction CallBackVirt);
188 void setSaturation(
const float &forceLimit,
const float &torqueLimit);
189 void setTimeStep(
const float &timeStep);
191 void setVelocityFactor(
const float &velocityFactor);
196 void setVerbose(
bool mode) { m_verbose = mode; }
198 void startPeriodicFunction();
199 void stopPeriodicFunction();
202 VirtContext m_virtContext;
205 int m_apiMajorVersion;
206 int m_apiMinorVersion;
207 int m_ctrlMajorVersion;
208 int m_ctrlMinorVersion;
209 VirtCommandType m_typeCommand;
210 VirtIndexingType m_indexType;
213 unsigned int m_njoints;