Visual Servoing Platform version 3.5.0
vpRobotAfma6.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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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 Irisa's Afma6 robot controlled by an Adept MotionBlox.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef vpRobotAfma6_h
40#define vpRobotAfma6_h
41
42#include <visp3/core/vpConfig.h>
43
44#ifdef VISP_HAVE_AFMA6
45
46#include <iostream>
47#include <stdio.h>
48
49#include <visp3/core/vpColVector.h>
50#include <visp3/core/vpDebug.h>
51#include <visp3/core/vpPoseVector.h>
52#include <visp3/robot/vpAfma6.h>
53#include <visp3/robot/vpRobot.h>
54
55// low level controller api
56extern "C" {
57#include "irisa_Afma6.h"
58#include "trycatch.h"
59}
60
211class VISP_EXPORT vpRobotAfma6 : public vpAfma6, public vpRobot
212{
213
214private: /* Not allowed functions. */
218 vpRobotAfma6(const vpRobotAfma6 &robot);
219
220private: /* Attributs prives. */
230 static bool robotAlreadyCreated;
231
232 double positioningVelocity;
233
234 // Variables used to compute the measured velocities (see getVelocity() )
235 vpColVector q_prev_getvel;
236 vpHomogeneousMatrix fMc_prev_getvel;
237 double time_prev_getvel;
238 bool first_time_getvel;
239
240 // Variables used to compute the measured displacement (see
241 // getDisplacement() )
242 vpColVector q_prev_getdis;
243 bool first_time_getdis;
244 vpHomogeneousMatrix fMc_prev_getdis;
245
246public: /* Constantes */
247 /* Vitesse maximale par default lors du positionnement du robot.
248 * C'est la valeur a la construction de l'attribut prive \a
249 * positioningVelocity. Cette valeur peut etre changee par la fonction
250 * #setPositioningVelocity.
251 */
252 static const double defaultPositioningVelocity; // = 20.0;
253
254public: /* Methode publiques */
255 explicit vpRobotAfma6(bool verbose = true);
256 virtual ~vpRobotAfma6(void);
257
258 bool checkJointLimits(vpColVector &jointsStatus);
259
260 void closeGripper();
261
263
264 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
265 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
266 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
267 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
268
269 double getPositioningVelocity(void);
270 bool getPowerState();
271 double getTime() const;
272
273 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
274 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
275
276 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
277 vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
278
279 void get_cMe(vpHomogeneousMatrix &_cMe) const;
280 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
281 void get_eJe(vpMatrix &_eJe);
282 void get_fJe(vpMatrix &_fJe);
283
284 void init(void);
286 void init(vpAfma6::vpAfma6ToolType tool, const std::string &filename);
287 void
290
291 void move(const std::string &filename);
292 void move(const std::string &filename, double velocity);
293
294 void openGripper();
295
296 void powerOn();
297 void powerOff();
298
299 static bool readPosFile(const std::string &filename, vpColVector &q);
300 static bool savePosFile(const std::string &filename, const vpColVector &q);
301
302 /* --- POSITIONNEMENT --------------------------------------------------- */
303 void setPosition(const vpRobot::vpControlFrameType frame, const vpPoseVector &pose);
304 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
305 void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3,
306 double pos4, double pos5, double pos6);
307 void setPosition(const std::string &filename);
308 void setPositioningVelocity(double velocity);
309 void set_eMc(const vpHomogeneousMatrix &eMc);
310
311 /* --- ETAT ------------------------------------------------------------- */
312
314
315 /* --- VITESSE ---------------------------------------------------------- */
316
317 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
318
319 void stopMotion();
320};
321
322#endif
323#endif /* #ifndef vpRobotAfma6_h */
Modelisation of Irisa's gantry robot named Afma6.
Definition: vpAfma6.h:79
virtual void set_eMc(const vpHomogeneousMatrix &eMc)
Definition: vpAfma6.cpp:1187
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpAfma6.cpp:910
void init(void)
Definition: vpAfma6.cpp:160
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpAfma6.cpp:888
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpAfma6.cpp:932
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpAfma6.cpp:1002
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpAfma6.h:126
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
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
Control of Irisa's gantry robot named Afma6.
Definition: vpRobotAfma6.h:212
static const double defaultPositioningVelocity
Definition: vpRobotAfma6.h:252
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.