Visual Servoing Platform version 3.6.0
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vpQbSoftHand.cpp
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 qb robotics devices.
33 *
34*****************************************************************************/
35
36#include <visp3/core/vpConfig.h>
37#ifdef VISP_HAVE_QBDEVICE
38
39#include <regex>
40
41#include <visp3/robot/vpQbSoftHand.h>
42
48
54
60void vpQbSoftHand::getCurrent(vpColVector &current, const int &id)
61{
62 if (!m_init_done) {
63 init(id);
64 }
65
66 current.resize(1);
67 if (!isInConnectedSet(id)) {
68 throw(vpException(vpException::fatalError, "Cannot get current, Qb device is not connected"));
69 }
70
71 std::vector<short int> currents(2);
72 int failures = getCurrents(id, m_max_repeats, currents); // blocks while reading
73
74 if (!isReliable(failures, m_max_repeats)) {
76 "Cannot get current, communication error with Qb device after %d attempts", m_max_repeats));
77 }
78 current[0] = static_cast<double>(currents[0]);
79}
80
87void vpQbSoftHand::getPosition(vpColVector &position, const int &id)
88{
89 if (!m_init_done) {
90 init(id);
91 }
92
93 position.resize(1);
94 if (!isInConnectedSet(id)) {
95 throw(vpException(vpException::fatalError, "Cannot get position, Qb device is not connected"));
96 }
97
98 std::vector<short int> positions;
99 int failures = getPositions(id, m_max_repeats, positions); // blocks while reading
100
101 position[0] = static_cast<double>(positions[0]) / static_cast<double>(getPositionLimits()[1]);
102
103 if (!isReliable(failures, m_max_repeats)) {
105 "Cannot get position, communication error with Qb device after %d attempts", m_max_repeats));
106 }
107}
108
115void vpQbSoftHand::setPosition(const vpColVector &position, const int &id)
116{
117 if (!m_init_done) {
118 init(id);
119 }
120
121 std::vector<short int> commands(2);
122 if (position.size() != 1) {
123 throw(vpException(vpException::fatalError, "Command vector size %d is not equal to 2", position.size()));
124 }
125
126 std::vector<short int> position_limits = getPositionLimits();
127
128 commands[0] = static_cast<short int>(position[0] * position_limits[1]);
129
130 if (commands[0] < position_limits[0]) {
131 commands[0] = position_limits[0];
132 } else if (commands[0] > position_limits[1]) {
133 commands[0] = position_limits[1];
134 }
135
136 if (!isInConnectedSet(id)) {
137 throw(vpException(vpException::fatalError, "Cannot set position, Qb device is not connected"));
138 }
139
140 // int failures = setCommandsAndWait(id, m_max_repeats, commands); // FS: doesn't work
141 int failures = setCommandsAsync(id, commands);
142
143 if (!isReliable(failures, m_max_repeats)) {
145 "Cannot set position, communication error with Qb device after %d attempts", m_max_repeats));
146 }
147}
148
159void vpQbSoftHand::setPosition(const vpColVector &position, double speed_factor, double stiffness, const int &id)
160{
161 vpColVector q_mes(1), q(1), current;
162 getPosition(q_mes, id);
163 double current_max = getCurrentMax();
164
165 double max_delta_q = 1; // 0 opened, 1 closed
166 double min_delta_t = 2.0; // number of [sec] to open or close with the max velocity
167 double precision = 0.05;
168 double delta_t = 40; // [ms]
169 double max_slope = max_delta_q / min_delta_t;
170 double sign = (position[0] > q_mes[0]) ? 1.0 : -1.0;
171 double vel = speed_factor;
172 if (vel < 0.01) {
173 vel = 0.01;
174 } else if (vel > 1.) {
175 vel = 1.0;
176 }
177 double current_factor = stiffness;
178 if (current_factor < 0.0) {
179 current_factor = 0.0;
180 } else if (current_factor > 1.) {
181 current_factor = 1.0;
182 }
183 double slope = sign * max_slope * vel;
184
185 unsigned int i = 0;
186 int current_failures = 0;
187 do {
188 double t0 = vpTime::measureTimeMs();
189 q[0] = q_mes[0] + slope * delta_t / 1000.0 * i;
190 if (q[0] < getPositionLimits()[0]) {
191 q[0] = getPositionLimits()[0];
192 } else if (q[0] > getPositionLimits()[1]) {
193 q[0] = getPositionLimits()[1];
194 }
195 setPosition(q, id);
196 getCurrent(current, id);
197 i++;
198
199 if (std::fabs(current[0]) > current_factor * current_max) {
200 current_failures++;
201 } else {
202 current_failures = 0;
203 }
204
205 vpTime::wait(t0, delta_t);
206 } while (!vpMath::equal(q[0], position[0], precision) && !(current_failures > 1));
207}
208#endif
unsigned int size() const
Return the number of elements of the 2D array.
Definition vpArray2D.h:292
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ fatalError
Fatal error.
Definition vpException.h:84
static bool equal(double x, double y, double threshold=0.001)
Definition vpMath.h:369
bool isReliable(int const &failures, int const &max_repeats)
double getCurrentMax() const
virtual bool isInConnectedSet(const int &id)
virtual bool init(const int &id)
int m_max_repeats
Max number of trials to send a command.
Definition vpQbDevice.h:112
virtual int getCurrents(const int &id, const int &max_repeats, std::vector< short int > &currents)
std::vector< short int > getPositionLimits() const
virtual int getPositions(const int &id, const int &max_repeats, std::vector< short int > &positions)
virtual int setCommandsAsync(const int &id, std::vector< short int > &commands)
bool m_init_done
Flag used to indicate if the device is initialized.
Definition vpQbDevice.h:113
void getCurrent(vpColVector &current, const int &id=1)
void setPosition(const vpColVector &position, const int &id=1)
virtual ~vpQbSoftHand()
void getPosition(vpColVector &position, const int &id=1)
VISP_EXPORT double measureTimeMs()
VISP_EXPORT int wait(double t0, double t)