42 #ifndef vpSimulatorViper850_HH
43 #define vpSimulatorViper850_HH
52 #include <visp/vpRobotWireFrameSimulator.h>
53 #include <visp/vpViper850.h>
55 #if defined(WIN32) || defined(VISP_HAVE_PTHREAD)
209 bool first_time_getdis;
211 double positioningVelocity;
225 const unsigned int &image_width,
226 const unsigned int &image_height);
252 void move(
const char *filename) ;
254 static bool readPosFile(
const char *filename,
vpColVector &q);
255 static bool savePosFile(
const char *filename,
const vpColVector &q);
283 WaitForSingleObject(mutex_fMi,INFINITE);
284 for (
int i = 0; i < 8; i++)
286 ReleaseMutex(mutex_fMi);
287 #elif defined(VISP_HAVE_PTHREAD)
288 pthread_mutex_lock (&mutex_fMi);
289 for (
int i = 0; i < 8; i++)
291 pthread_mutex_unlock (&mutex_fMi);
302 void getArticularDisplacement(
vpColVector &displacement);
303 void getCameraDisplacement(
vpColVector &displacement);