Visual Servoing Platform version 3.6.0
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vpRobotAfma4.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 the Irisa's Afma4 robot.
33 *
34*****************************************************************************/
35
36#ifndef vpRobotAfma4_h
37#define vpRobotAfma4_h
38
39#include <visp3/core/vpConfig.h>
40
41#ifdef VISP_HAVE_AFMA4
42
43#include <iostream>
44#include <stdio.h>
45
46#include <visp3/core/vpColVector.h>
47#include <visp3/core/vpDebug.h>
48#include <visp3/robot/vpAfma4.h>
49#include <visp3/robot/vpRobot.h>
50
51// low level controller api
52extern "C" {
53#include "irisa_Afma4.h"
54#include "trycatch.h"
55}
56
175class VISP_EXPORT vpRobotAfma4 : public vpAfma4, public vpRobot
176{
177
178private: /* Not allowed functions. */
182 vpRobotAfma4(const vpRobotAfma4 &robot);
183
184private: /* Attributs prives. */
194 static bool robotAlreadyCreated;
195
196 double positioningVelocity;
197
198 // Variables used to compute the measured velocities (see getVelocity() )
199 vpColVector q_prev_getvel;
200 vpHomogeneousMatrix fMc_prev_getvel;
201 double time_prev_getvel;
202 bool first_time_getvel;
203
204 // Variables used to compute the measured displacement (see
205 // getDisplacement() )
206 vpColVector q_prev_getdis;
207 bool first_time_getdis;
208
209public: /* Constantes */
210 /* Vitesse maximale par default lors du positionnement du robot.
211 * C'est la valeur a la construction de l'attribut prive \a
212 * positioningVelocity. Cette valeur peut etre changee par la fonction
213 * #setPositioningVelocity.
214 */
215 static const double defaultPositioningVelocity; // = 20.0;
216
217public: /* Methode publiques */
218 explicit vpRobotAfma4(bool verbose = true);
219 virtual ~vpRobotAfma4(void);
220
222 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
223 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
224
225 double getPositioningVelocity(void);
226 bool getPowerState();
227
228 double getTime() const;
229
230 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
231 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
232
233 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
234 vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
235
236 void get_cMe(vpHomogeneousMatrix &cMe) const;
237 void get_cVe(vpVelocityTwistMatrix &cVe) const;
238 void get_cVf(vpVelocityTwistMatrix &cVf) const;
239 void get_eJe(vpMatrix &eJe);
240 void get_fJe(vpMatrix &fJe);
241
242 void init(void);
243
244 void move(const char *filename);
245
246 void powerOn();
247 void powerOff();
248
249 static bool readPosFile(const std::string &filename, vpColVector &q);
250 static bool savePosFile(const std::string &filename, const vpColVector &q);
251
252 /* --- POSITIONNEMENT --------------------------------------------------- */
253 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
254 void setPosition(const vpRobot::vpControlFrameType frame, const double q1, const double q2, const double q4,
255 const double q5);
256 void setPosition(const char *filename);
257 void setPositioningVelocity(double velocity);
258
259 /* --- ETAT ------------------------------------------------------------- */
260
262
263 /* --- VITESSE ---------------------------------------------------------- */
264
265 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
266
267 void stopMotion();
268};
269
270#endif
271#endif /* #ifndef vpRobotAfma4_h */
Modelisation of Irisa's cylindrical robot named Afma4.
Definition vpAfma4.h:108
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition vpAfma4.cpp:447
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition vpAfma4.cpp:306
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition vpAfma4.cpp:317
void init(void)
Definition vpAfma4.cpp:103
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition vpAfma4.cpp:392
void get_cVf(const vpColVector &q, vpVelocityTwistMatrix &cVf) const
Definition vpAfma4.cpp:345
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Control of Irisa's cylindrical robot named Afma4.
static const double defaultPositioningVelocity
Class that defines a generic virtual robot.
Definition vpRobot.h:57
vpControlFrameType
Definition vpRobot.h:73
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
vpRobotStateType
Definition vpRobot.h:62
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
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.