Visual Servoing Platform version 3.5.0
vpRobotAfma4.h
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3 * ViSP, open source Visual Servoing Platform software.
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21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Interface for the Irisa's Afma4 robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef vpRobotAfma4_h
40#define vpRobotAfma4_h
41
42#include <visp3/core/vpConfig.h>
43
44#ifdef VISP_HAVE_AFMA4
45
46#include <iostream>
47#include <stdio.h>
48
49#include <visp3/core/vpColVector.h>
50#include <visp3/core/vpDebug.h>
51#include <visp3/robot/vpAfma4.h>
52#include <visp3/robot/vpRobot.h>
53
54// low level controller api
55extern "C" {
56#include "irisa_Afma4.h"
57#include "trycatch.h"
58}
59
178class VISP_EXPORT vpRobotAfma4 : public vpAfma4, public vpRobot
179{
180
181private: /* Not allowed functions. */
185 vpRobotAfma4(const vpRobotAfma4 &robot);
186
187private: /* Attributs prives. */
197 static bool robotAlreadyCreated;
198
199 double positioningVelocity;
200
201 // Variables used to compute the measured velocities (see getVelocity() )
202 vpColVector q_prev_getvel;
203 vpHomogeneousMatrix fMc_prev_getvel;
204 double time_prev_getvel;
205 bool first_time_getvel;
206
207 // Variables used to compute the measured displacement (see
208 // getDisplacement() )
209 vpColVector q_prev_getdis;
210 bool first_time_getdis;
211
212public: /* Constantes */
213 /* Vitesse maximale par default lors du positionnement du robot.
214 * C'est la valeur a la construction de l'attribut prive \a
215 * positioningVelocity. Cette valeur peut etre changee par la fonction
216 * #setPositioningVelocity.
217 */
218 static const double defaultPositioningVelocity; // = 20.0;
219
220public: /* Methode publiques */
221 explicit vpRobotAfma4(bool verbose = true);
222 virtual ~vpRobotAfma4(void);
223
225 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
226 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
227
228 double getPositioningVelocity(void);
229 bool getPowerState();
230
231 double getTime() const;
232
233 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
234 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
235
236 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
237 vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
238
239 void get_cMe(vpHomogeneousMatrix &cMe) const;
240 void get_cVe(vpVelocityTwistMatrix &cVe) const;
241 void get_cVf(vpVelocityTwistMatrix &cVf) const;
242 void get_eJe(vpMatrix &eJe);
243 void get_fJe(vpMatrix &fJe);
244
245 void init(void);
246
247 void move(const char *filename);
248
249 void powerOn();
250 void powerOff();
251
252 static bool readPosFile(const std::string &filename, vpColVector &q);
253 static bool savePosFile(const std::string &filename, const vpColVector &q);
254
255 /* --- POSITIONNEMENT --------------------------------------------------- */
256 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
257 void setPosition(const vpRobot::vpControlFrameType frame, const double q1, const double q2, const double q4,
258 const double q5);
259 void setPosition(const char *filename);
260 void setPositioningVelocity(double velocity);
261
262 /* --- ETAT ------------------------------------------------------------- */
263
265
266 /* --- VITESSE ---------------------------------------------------------- */
267
268 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
269
270 void stopMotion();
271};
272
273#endif
274#endif /* #ifndef vpRobotAfma4_h */
Modelisation of Irisa's cylindrical robot named Afma4.
Definition: vpAfma4.h:111
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpAfma4.cpp:450
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpAfma4.cpp:309
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpAfma4.cpp:320
void init(void)
Definition: vpAfma4.cpp:106
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpAfma4.cpp:395
void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const
Definition: vpAfma4.cpp:348
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Control of Irisa's cylindrical robot named Afma4.
Definition: vpRobotAfma4.h:179
static const double defaultPositioningVelocity
Definition: vpRobotAfma4.h:218
Class that defines a generic virtual robot.
Definition: vpRobot.h:59
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpControlFrameType
Definition: vpRobot.h:75
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
vpRobotStateType
Definition: vpRobot.h:64
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.