53 #include <visp/vpMatrix.h>
54 #include <visp/vpVelocityTwistMatrix.h>
55 #include <visp/vpBasicFeature.h>
56 #include <visp/vpServoException.h>
58 #include <visp/vpList.h>
59 #include <visp/vpAdaptiveGain.h>
172 } vpServoIteractionMatrixType;
178 } vpServoInversionType;
196 vpServo(vpServoType _servoType) ;
225 void setServo(vpServoType _servo_type) ;
240 void setInteractionMatrixType(
const vpServoIteractionMatrixType &interactionMatrixType,
241 const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE) ;
250 void setLambda(
double _lambda) { lambda .initFromConstant (_lambda) ; }
251 void setLambda(
const double at_zero,
252 const double at_infinity,
253 const double deriv_at_zero)
254 { lambda .initStandard (at_zero, at_infinity, deriv_at_zero) ; }
265 vpMatrix computeInteractionMatrix() ;
273 bool testInitialization() ;
285 unsigned int getDimension() ;
372 inline vpMatrix getTaskJacobianPseudoInverse()
const
386 inline double getTaskRank()
const
420 std::ostream &os = std::cout) ;