40#ifndef vpRobotViper650_h
41#define vpRobotViper650_h
43#include <visp3/core/vpConfig.h>
45#ifdef VISP_HAVE_VIPER650
50#include <visp3/core/vpColVector.h>
51#include <visp3/core/vpDebug.h>
52#include <visp3/robot/vpRobot.h>
53#include <visp3/robot/vpViper650.h>
57#include "irisa_Viper650.h"
370 static bool m_robotAlreadyCreated;
372 double m_positioningVelocity;
378 double m_time_prev_getvel;
379 bool m_first_time_getvel;
383 bool m_first_time_getdis;
391 void biasForceTorqueSensor()
const;
393 void closeGripper()
const;
395 void disableJoint6Limits()
const;
396 void enableJoint6Limits()
const;
408 double getMaxRotationVelocityJoint6()
const;
415 double getPositioningVelocity(
void)
const;
416 bool getPowerState()
const;
418 double getTime()
const;
436 void move(
const std::string &filename);
443 static bool readPosFile(
const std::string &filename,
vpColVector &q);
444 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
450 void setMaxRotationVelocityJoint6(
double w6_max);
455 double pos4,
double pos5,
double pos6);
457 void setPositioningVelocity(
double velocity);
467 double m_maxRotationVelocity_joint6;
vpCameraParametersProjType
@ perspectiveProjWithoutDistortion
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.
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.
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
void setMaxRotationVelocity(double maxVr)
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.
vpToolType
List of possible tools that can be attached to the robot end-effector.
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
void get_cMe(vpHomogeneousMatrix &cMe) const
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
void get_cVe(vpVelocityTwistMatrix &cVe) const