Visual Servoing Platform version 3.5.0
vpRobotFlirPtu.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 Flir Ptu Cpi robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef vpRobotFlirPtu_h
40#define vpRobotFlirPtu_h
41
47#include <visp3/core/vpConfig.h>
48
49#ifdef VISP_HAVE_FLIR_PTU_SDK
50
51#include <visp3/core/vpHomogeneousMatrix.h>
52#include <visp3/robot/vpRobot.h>
53#include <visp3/robot/vpRobotException.h>
54
96class VISP_EXPORT vpRobotFlirPtu : public vpRobot
97{
98public:
100 virtual ~vpRobotFlirPtu();
101
102 void connect(const std::string &portname, int baudrate = 9600);
103 void disconnect();
104
105 void get_eJe(vpMatrix &eJe);
107 void get_fJe(vpMatrix &fJe);
109 vpMatrix get_fMe();
110
115 vpHomogeneousMatrix get_eMc() const { return m_eMc; }
116 vpVelocityTwistMatrix get_cVe() const;
117
119
120 std::string getNetworkIP();
121 std::string getNetworkGateway();
122 std::string getNetworkHostName();
123
125 vpColVector getPanPosLimits();
126 vpColVector getTiltPosLimits();
127 vpColVector getPanTiltVelMax();
128
129 void reset();
130
135 void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
136 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
137 void setPanPosLimits(const vpColVector &pan_limits);
138 void setTiltPosLimits(const vpColVector &tilt_limits);
139
140 void setPositioningVelocity(double velocity);
142 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
143 void stopMotion();
144
145 static void emergencyStop(int signo);
146
147protected:
148 void init();
149 void getLimits();
150 void getJointPosition(vpColVector &q);
151 void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
152 void setJointVelocity(const vpColVector &qdot);
153
154private:
155 double tics2deg(int axis, int tics);
156 double tics2rad(int axis, int tics);
157 int rad2tics(int axis, double rad);
158
159protected:
161
162 struct cerial *m_cer;
163 uint16_t m_status;
164 std::vector<int> m_pos_max_tics;
165 std::vector<int> m_pos_min_tics;
166 std::vector<int> m_vel_max_tics;
167 std::vector<double> m_res;
171};
172
173#endif
174#endif
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
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
std::vector< int > m_pos_max_tics
Pan min/max position in robot tics unit.
double m_positioning_velocity
std::vector< double > m_res
Pan/tilt tic resolution in deg.
void set_eMc(vpHomogeneousMatrix &eMc)
std::vector< int > m_vel_max_tics
Pan/tilt max velocity in robot tics unit.
struct cerial * m_cer
vpHomogeneousMatrix get_eMc() const
std::vector< int > m_pos_min_tics
Tilt min/max position in robot tics unit.
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 get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
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 init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
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.