SimulationBlock::SimulationBlock( BlockName _name,
double _samplingTime
) : UserInteraction( )
{
setName( _name );
setSamplingTime( _samplingTime );
}
/*!
Default constructor.
\param do_display : When true, enables the display of the external view.
*/
vpRobotWireFrameSimulator::vpRobotWireFrameSimulator(bool do_display)
: vpWireFrameSimulator(), vpRobotSimulator(),
I(), tcur(0), tprev(0), robotArms(NULL), size_fMi(8), fMi(NULL), artCoord(), artVel(), velocity(),
#if defined(_WIN32)
#elif defined(VISP_HAVE_PTHREAD)
thread(), attr(),
#endif
/* thread(), attr(), */ mutex_fMi(), mutex_artVel(), mutex_artCoord(), mutex_velocity(), mutex_display(),
displayBusy(false), robotStop(false), jointLimit(false), jointLimitArt(false), singularityManagement(true),
cameraParam(),
#if defined(VISP_HAVE_DISPLAY)
display(),
#endif
displayType(MODEL_3D), displayAllowed(do_display), constantSamplingTimeMode(false),
setVelocityCalled(false), verbose_(false)
{
setSamplingTime(0.010);
velocity.resize(6);
I.resize(480,640);
I = 255;
#if defined(VISP_HAVE_DISPLAY)
if (do_display)
this->display.init(I, 0, 0,"The External view");
#endif
//pid_t pid = getpid();
// setpriority (PRIO_PROCESS, pid, 19);
}
BEGIN_NAMESPACE_ACADO
SimulationBlock::SimulationBlock( ) : UserInteraction( )
{
setName( BN_DEFAULT );
setSamplingTime( DEFAULT_SAMPLING_TIME );
}
SimulationBlock& SimulationBlock::operator=( const SimulationBlock &rhs
)
{
if( this != &rhs )
{
UserInteraction::operator=( rhs );
setName( rhs.name );
setSamplingTime( rhs.samplingTime );
}
return *this;
}
SimulationBlock::SimulationBlock( const SimulationBlock &rhs
) : UserInteraction( rhs )
{
setName( rhs.name );
setSamplingTime( rhs.samplingTime );
}
/*!
Robot initialisation.
Sampling time is set to 40 ms. To change it you should call
setSamplingTime().
Robot jacobian expressed in the end-effector frame \f$ {^e}{\bf J}_e \f$
is set to identity (see get_eJe()).
*/
void vpRobotCamera::init()
{
eJe.resize(6,6) ;
eJe.setIdentity() ;
setSamplingTime(0.040f);
}
