Visual Servoing Platform version 3.6.0
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vpRobotAfma6.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 Afma6 robot controlled by an Adept MotionBlox.
33 *
34*****************************************************************************/
35
36#ifndef vpRobotAfma6_h
37#define vpRobotAfma6_h
38
39#include <visp3/core/vpConfig.h>
40
41#ifdef VISP_HAVE_AFMA6
42
43#include <iostream>
44#include <stdio.h>
45
46#include <visp3/core/vpColVector.h>
47#include <visp3/core/vpDebug.h>
48#include <visp3/core/vpPoseVector.h>
49#include <visp3/robot/vpAfma6.h>
50#include <visp3/robot/vpRobot.h>
51
52// low level controller api
53extern "C" {
54#include "irisa_Afma6.h"
55#include "trycatch.h"
56}
57
208class VISP_EXPORT vpRobotAfma6 : public vpAfma6, public vpRobot
209{
210
211private: /* Not allowed functions. */
215 vpRobotAfma6(const vpRobotAfma6 &robot);
216
217private: /* Attributs prives. */
227 static bool robotAlreadyCreated;
228
229 double positioningVelocity;
230
231 // Variables used to compute the measured velocities (see getVelocity() )
232 vpColVector q_prev_getvel;
233 vpHomogeneousMatrix fMc_prev_getvel;
234 double time_prev_getvel;
235 bool first_time_getvel;
236
237 // Variables used to compute the measured displacement (see
238 // getDisplacement() )
239 vpColVector q_prev_getdis;
240 bool first_time_getdis;
241 vpHomogeneousMatrix fMc_prev_getdis;
242
243public: /* Constantes */
244 /* Vitesse maximale par default lors du positionnement du robot.
245 * C'est la valeur a la construction de l'attribut prive \a
246 * positioningVelocity. Cette valeur peut etre changee par la fonction
247 * #setPositioningVelocity.
248 */
249 static const double defaultPositioningVelocity; // = 20.0;
250
251public: /* Methode publiques */
252 explicit vpRobotAfma6(bool verbose = true);
253 virtual ~vpRobotAfma6(void);
254
255 bool checkJointLimits(vpColVector &jointsStatus);
256
257 void closeGripper();
258
260
261 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
262 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
263 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
264 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
265
266 double getPositioningVelocity(void);
267 bool getPowerState();
268 double getTime() const;
269
270 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
271 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
272
273 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
274 vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
275
276 void get_cMe(vpHomogeneousMatrix &_cMe) const;
277 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
278 void get_eJe(vpMatrix &_eJe);
279 void get_fJe(vpMatrix &_fJe);
280
281 void init(void);
283 void init(vpAfma6::vpAfma6ToolType tool, const std::string &filename);
284 void
287
288 void move(const std::string &filename);
289 void move(const std::string &filename, double velocity);
290
291 void openGripper();
292
293 void powerOn();
294 void powerOff();
295
296 static bool readPosFile(const std::string &filename, vpColVector &q);
297 static bool savePosFile(const std::string &filename, const vpColVector &q);
298
299 /* --- POSITIONNEMENT --------------------------------------------------- */
300 void setPosition(const vpRobot::vpControlFrameType frame, const vpPoseVector &pose);
301 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
302 void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3, double pos4,
303 double pos5, double pos6);
304 void setPosition(const std::string &filename);
305 void setPositioningVelocity(double velocity);
306 void set_eMc(const vpHomogeneousMatrix &eMc);
307
308 /* --- ETAT ------------------------------------------------------------- */
309
311
312 /* --- VITESSE ---------------------------------------------------------- */
313
314 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
315
316 void stopMotion();
317};
318
319#endif
320#endif /* #ifndef vpRobotAfma6_h */
Modelisation of Irisa's gantry robot named Afma6.
Definition vpAfma6.h:76
virtual void set_eMc(const vpHomogeneousMatrix &eMc)
Definition vpAfma6.cpp:1186
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition vpAfma6.cpp:909
void init(void)
Definition vpAfma6.cpp:157
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition vpAfma6.cpp:887
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition vpAfma6.cpp:931
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition vpAfma6.cpp:1001
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
Definition vpAfma6.h:123
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
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
Implementation of a pose vector and operations on poses.
Control of Irisa's gantry robot named Afma6.
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.