Visual Servoing Platform version 3.5.0
vpSimulatorCamera.cpp
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30 *
31 * Description:
32 * Defines the simplest robot : a free flying camera.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
44#include <visp3/core/vpDebug.h>
45#include <visp3/core/vpExponentialMap.h>
46#include <visp3/core/vpHomogeneousMatrix.h>
47#include <visp3/robot/vpRobotException.h>
48#include <visp3/robot/vpSimulatorCamera.h>
49
56
64void vpSimulatorCamera::init()
65{
66 nDof = 6;
67 eJe.eye(6, 6);
68 eJeAvailable = true;
69 fJeAvailable = false;
71 qmin = NULL;
72 qmax = NULL;
73
74 setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
75 setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
76}
77
83
95{
97 cVe = cVe_;
98}
99
108void vpSimulatorCamera::get_eJe(vpMatrix &eJe_) { eJe_ = this->eJe; }
109
120
121/*
122 Get the current position of the camera.
123
124 \param frame : Control frame type in which to get the position, either :
125 - in the camera cartesien frame,
126 - joint (articular) coordinates of each axes
127 - in a reference or fixed cartesien frame attached to the robot base
128 - in a mixt cartesien frame (translation in reference frame, and rotation in
129 camera frame)
130
131 \param position : Measured position of the robot:
132 - in camera cartesien frame, a 6 dimension vector, set to 0.
133
134 - in articular, a 6 dimension vector corresponding to the articular
135 position of each dof, first the 3 translations, then the 3
136 articular rotation positions represented by a vpRxyzVector.
137
138 - in reference frame, a 6 dimension vector, the first 3 values correspond to
139 the translation tx, ty, tz in meters (like a vpTranslationVector), and the
140 last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
141*/
143{
144 q.resize(6);
145
146 switch (frame) {
148 q = 0;
149 break;
150
153 // Convert wMc_ to a position
154 // From fMc extract the pose
156 this->wMc_.extract(wRc);
157 vpRxyzVector rxyz;
158 rxyz.buildFrom(wRc);
159
160 for (unsigned int i = 0; i < 3; i++) {
161 q[i] = this->wMc_[i][3]; // translation x,y,z
162 q[i + 3] = rxyz[i]; // Euler rotation x,y,z
163 }
164
165 break;
166 }
168 std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
169 break;
171 std::cout << "END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
172 break;
173 }
174}
175
199{
202 }
203
204 switch (frame) {
207 vpColVector v_max(6);
208
209 for (unsigned int i = 0; i < 3; i++)
210 v_max[i] = getMaxTranslationVelocity();
211 for (unsigned int i = 3; i < 6; i++)
212 v_max[i] = getMaxRotationVelocity();
213
214 vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
215
217 setRobotFrame(frame);
218 break;
219 }
221 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the reference frame:"
222 "functionality not implemented");
223 break;
225 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the mixt frame:"
226 "functionality not implemented");
227
228 break;
230 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the end-effector frame:"
231 "functionality not implemented");
232
233 break;
234 }
235}
236
243{
246 }
247
248 this->wMc_ = wMc;
249}
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:310
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static double rad(double deg)
Definition: vpMath.h:110
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
void eye()
Definition: vpMatrix.cpp:449
Error that can be emited by the vpRobot class and its derivates.
int nDof
number of degrees of freedom
Definition: vpRobot.h:102
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition: vpRobot.h:104
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:144
double * qmin
Definition: vpRobot.h:113
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:163
vpControlFrameType
Definition: vpRobot.h:75
@ REFERENCE_FRAME
Definition: vpRobot.h:76
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
@ MIXT_FRAME
Definition: vpRobot.h:86
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:81
double * qmax
Definition: vpRobot.h:114
int areJointLimitsAvailable
Definition: vpRobot.h:112
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:110
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:67
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
double getMaxRotationVelocity(void) const
Definition: vpRobot.cpp:273
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:106
double getMaxTranslationVelocity(void) const
Definition: vpRobot.cpp:251
void setMaxRotationVelocity(double maxVr)
Definition: vpRobot.cpp:260
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
Definition: vpRobot.cpp:207
void setMaxTranslationVelocity(double maxVt)
Definition: vpRobot.cpp:239
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
vpRxyzVector buildFrom(const vpRotationMatrix &R)
void get_eJe(vpMatrix &eJe)
vpHomogeneousMatrix wMc_
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void setPosition(const vpHomogeneousMatrix &wMc)
vpHomogeneousMatrix getPosition() const
void get_cVe(vpVelocityTwistMatrix &cVe) const