Visual Servoing Platform version 3.5.0
vpRobotPtu46.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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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 ptu-46 robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#include <visp3/core/vpConfig.h>
40#ifdef VISP_HAVE_PTU46
41
42#ifndef _vpRobotPtu46_h_
43#define _vpRobotPtu46_h_
44
45/* ------------------------------------------------------------------------ */
46/* --- INCLUDES ----------------------------------------------------------- */
47/* ------------------------------------------------------------------------ */
48
49/* --- GENERAL --- */
50#include <iostream>
51#include <stdio.h>
52
53/* --- ViSP --- */
54#include <visp3/core/vpColVector.h>
55#include <visp3/core/vpDebug.h>
56#include <visp3/core/vpVelocityTwistMatrix.h>
57#include <visp3/robot/vpPtu46.h>
58#include <visp3/robot/vpRobot.h>
59
60#include <ptu.h> // Contrib for Ptu-46 robot
61
62/* ------------------------------------------------------------------------ */
63/* --- CLASS ------------------------------------------------------------- */
64/* ------------------------------------------------------------------------ */
65
80class VISP_EXPORT vpRobotPtu46 : public vpPtu46, public vpRobot
81{
82
83private:
85 vpRobotPtu46(const vpRobotPtu46 &ass);
86
88 Ptu ptu;
89
90private:
91 static bool robotAlreadyCreated;
92 double positioningVelocity;
93 int velocityMesureTempo;
94 char *device;
95
96public:
97 static const double defaultPositioningVelocity;
98
99 explicit vpRobotPtu46(const char *device = "/dev/ttyS0");
101 virtual ~vpRobotPtu46(void);
102
103 void get_cMe(vpHomogeneousMatrix &_cMe) const;
104 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
105 void get_eJe(vpMatrix &_eJe);
106 void get_fJe(vpMatrix &_fJe);
107
110 double getPositioningVelocity(void);
111 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
112 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
113
114 void init(void);
115
116 bool readPositionFile(const std::string &filename, vpColVector &q);
117
118 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
119 void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
120 void setPosition(const char *filename);
121 void setPositioningVelocity(double velocity);
123
124 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot);
125
126 void stopMotion();
127};
128
129#endif /* #ifndef _vpRobotPtu46_h_ */
130
131#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
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception.
Definition: vpPtu46.h:74
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Definition: vpPtu46.cpp:193
void init(void)
Definition: vpPtu46.cpp:166
void get_cMe(vpHomogeneousMatrix &_cMe) const
Definition: vpPtu46.cpp:210
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpPtu46.cpp:278
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpPtu46.cpp:249
Interface for the Directed Perception ptu-46 pan, tilt head .
Definition: vpRobotPtu46.h:81
static const double defaultPositioningVelocity
Definition: vpRobotPtu46.h:97
vpRobotPtu46(vpRobotPtu46 *pub)
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.