Visual Servoing Platform version 3.6.0
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vpRobotViper650.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 Irisa's Viper S650 robot controlled by an Adept
33 *MotionBlox.
34 *
35*****************************************************************************/
36
37#ifndef vpRobotViper650_h
38#define vpRobotViper650_h
39
40#include <visp3/core/vpConfig.h>
41
42#ifdef VISP_HAVE_VIPER650
43
44#include <iostream>
45#include <stdio.h>
46
47#include <visp3/core/vpColVector.h>
48#include <visp3/core/vpDebug.h>
49#include <visp3/robot/vpRobot.h>
50#include <visp3/robot/vpViper650.h>
51
52// low level controller api
53extern "C" {
54#include "irisa_Viper650.h"
55#include "trycatch.h"
56}
57
334class VISP_EXPORT vpRobotViper650 : public vpViper650, public vpRobot
335{
336
337public: /* Constantes */
339 typedef enum {
341 MANUAL,
343 ESTOP
344 } vpControlModeType;
345
346 /* Max velocity used during robot control in position.
347 * this value could be changed using setPositioningVelocity().
348 */
349 static const double m_defaultPositioningVelocity; // = 20.0;
350
351private: /* Not allowed functions. */
355 vpRobotViper650(const vpRobotViper650 &robot);
356
357private: /* Attributs prives. */
367 static bool m_robotAlreadyCreated;
368
369 double m_positioningVelocity;
370
371 // Variables used to compute the measured velocities (see getVelocity() )
372 vpColVector m_q_prev_getvel;
373 vpHomogeneousMatrix m_fMc_prev_getvel;
374 vpHomogeneousMatrix m_fMe_prev_getvel;
375 double m_time_prev_getvel;
376 bool m_first_time_getvel;
377
378 // Variables used to compute the measured displacement (see getDisplacement() )
379 vpColVector m_q_prev_getdis;
380 bool m_first_time_getdis;
381 vpControlModeType m_controlMode;
382
383public: /* Methode publiques */
384 explicit vpRobotViper650(bool verbose = true);
385 virtual ~vpRobotViper650(void);
386
387 // Force/Torque control
388 void biasForceTorqueSensor() const;
389
390 void closeGripper() const;
391
392 void disableJoint6Limits() const;
393 void enableJoint6Limits() const;
394
399 vpControlModeType getControlMode() const { return m_controlMode; }
400
402 void getForceTorque(vpColVector &H) const;
403 vpColVector getForceTorque() const;
404
405 double getMaxRotationVelocityJoint6() const;
406
407 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
408 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
409 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
410 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
411
412 double getPositioningVelocity(void) const;
413 bool getPowerState() const;
414
415 double getTime() const;
416 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
417 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
418
419 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
420 vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
421
422 void get_cMe(vpHomogeneousMatrix &cMe) const;
423 void get_cVe(vpVelocityTwistMatrix &cVe) const;
424 void get_eJe(vpMatrix &eJe);
425 void get_fJe(vpMatrix &fJe);
426
427 void init(void);
428 void
431 void init(vpViper650::vpToolType tool, const std::string &filename);
432 void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);
433
434 void move(const std::string &filename);
435
436 void openGripper();
437
438 void powerOn();
439 void powerOff();
440
441 static bool readPosFile(const std::string &filename, vpColVector &q);
442 static bool savePosFile(const std::string &filename, const vpColVector &q);
443
444 void set_eMc(const vpHomogeneousMatrix &eMc_);
445 void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);
446
447 void setMaxRotationVelocity(double w_max);
448 void setMaxRotationVelocityJoint6(double w6_max);
449
450 // Position control
451 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
452 void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3, double pos4,
453 double pos5, double pos6);
454 void setPosition(const std::string &filename);
455 void setPositioningVelocity(double velocity);
456
457 // State
459 // Velocity control
460 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
461
462 void stopMotion();
463
464private:
465 double m_maxRotationVelocity_joint6;
466};
467
468#endif
469#endif /* #ifndef vpRobotViper650_h */
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Implementation of a pose vector and operations on poses.
Control of Irisa's Viper S650 robot named Viper650.
static const double m_defaultPositioningVelocity
@ AUTO
Automatic control mode (default).
vpControlModeType getControlMode() const
Class that defines a generic virtual robot.
Definition vpRobot.h:57
vpControlFrameType
Definition vpRobot.h:73
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
vpRobotStateType
Definition vpRobot.h:62
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
void setMaxRotationVelocity(double maxVr)
Definition vpRobot.cpp:257
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.
Modelisation of the ADEPT Viper 650 robot.
Definition vpViper650.h:100
void init(void)
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition vpViper650.h:124
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
Definition vpViper.cpp:1212
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition vpViper.cpp:904
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition vpViper.cpp:1141
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition vpViper.cpp:952
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition vpViper.cpp:920