Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
vpRobotCamera.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 * Defines the simplest robot : a free flying camera.
33 *
34*****************************************************************************/
35
41#include <visp3/robot/vpRobotCamera.h>
42
43#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
44
45#include <visp3/core/vpDebug.h>
46#include <visp3/core/vpExponentialMap.h>
47#include <visp3/core/vpHomogeneousMatrix.h>
48#include <visp3/robot/vpRobotException.h>
49
69vpRobotCamera::vpRobotCamera() : cMw_() { init(); }
70
78void vpRobotCamera::init()
79{
80 nDof = 6;
81 eJe.eye(6, 6);
82 eJeAvailable = true;
83 fJeAvailable = false;
85 qmin = NULL;
86 qmax = NULL;
87
88 setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
89 setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
90}
91
97
109{
111 cVe = cVe_;
112}
113
121void vpRobotCamera::get_eJe(vpMatrix &eJe_) { eJe_ = this->eJe; }
122
146{
147 switch (frame) {
152 }
153
154 vpColVector v_max(6);
155
156 for (unsigned int i = 0; i < 3; i++)
157 v_max[i] = getMaxTranslationVelocity();
158 for (unsigned int i = 3; i < 6; i++)
159 v_max[i] = getMaxRotationVelocity();
160
161 vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
162
163 this->cMw_ = vpExponentialMap::direct(v_sat, delta_t_).inverse() * this->cMw_;
164 break;
165 }
167 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the reference frame:"
168 "functionality not implemented");
169 break;
171 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the mixt frame:"
172 "functionality not implemented");
173
174 break;
176 throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the end-effector frame:"
177 "functionality not implemented");
178 break;
179 }
180}
181
186void vpRobotCamera::getPosition(vpHomogeneousMatrix &cMw) const { cMw = this->cMw_; }
187
188/*
189 Get the current position of the robot.
190
191 \param frame : Control frame type in which to get the position, either :
192 - in the camera cartesien frame,
193 - joint (articular) coordinates of each axes
194 - in a reference or fixed cartesien frame attached to the robot base
195 - in a mixt cartesien frame (translation in reference frame, and rotation in
196 camera frame)
197
198 \param position : Measured position of the robot:
199 - in camera cartesien frame, a 6 dimension vector, set to 0.
200
201 - in articular, a 6 dimension vector corresponding to the articular
202 position of each dof, first the 3 translations, then the 3
203 articular rotation positions represented by a vpRxyzVector.
204
205 - in reference frame, a 6 dimension vector, the first 3 values correspond to
206 the translation tx, ty, tz in meters (like a vpTranslationVector), and the
207 last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
208*/
210{
211 q.resize(6);
212
213 switch (frame) {
215 q = 0;
216 break;
217
220 // Convert wMc_ to a position
221 // From fMc extract the pose
223 this->cMw_.extract(cRw);
224 vpRxyzVector rxyz;
225 rxyz.buildFrom(cRw);
226
227 for (unsigned int i = 0; i < 3; i++) {
228 q[i] = this->cMw_[i][3]; // translation x,y,z
229 q[i + 3] = rxyz[i]; // Euler rotation x,y,z
230 }
231
232 break;
233 }
235 std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
236 break;
238 std::cout << "END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
239 break;
240 }
241}
242
255
256#elif !defined(VISP_BUILD_SHARED_LIBS)
257// Work around to avoid warning: libvisp_robot.a(vpRobotCamera.cpp.o) has no
258// symbols
259void dummy_vpRobotCamera(){};
260#endif
Implementation of column vector and the associated operations.
void resize(unsigned int i, bool flagNullify=true)
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void extract(vpRotationMatrix &R) const
static double rad(double deg)
Definition vpMath.h:116
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
void eye()
Definition vpMatrix.cpp:446
virtual ~vpRobotCamera()
void get_eJe(vpMatrix &eJe)
void setPosition(const vpHomogeneousMatrix &cMw)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v)
void get_cVe(vpVelocityTwistMatrix &cVe) const
vpHomogeneousMatrix cMw_
void getPosition(vpHomogeneousMatrix &cMw) const
Error that can be emitted by the vpRobot class and its derivatives.
@ wrongStateError
Wrong robot state.
int nDof
number of degrees of freedom
Definition vpRobot.h:100
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition vpRobot.h:102
virtual vpRobotStateType getRobotState(void) const
Definition vpRobot.h:142
double * qmin
Definition vpRobot.h:111
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition vpRobot.cpp:160
vpControlFrameType
Definition vpRobot.h:73
@ REFERENCE_FRAME
Definition vpRobot.h:74
@ ARTICULAR_FRAME
Definition vpRobot.h:76
@ MIXT_FRAME
Definition vpRobot.h:84
@ CAMERA_FRAME
Definition vpRobot.h:80
@ END_EFFECTOR_FRAME
Definition vpRobot.h:79
double * qmax
Definition vpRobot.h:112
int areJointLimitsAvailable
Definition vpRobot.h:110
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition vpRobot.h:108
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition vpRobot.h:65
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
double getMaxRotationVelocity(void) const
Definition vpRobot.cpp:270
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition vpRobot.h:104
double getMaxTranslationVelocity(void) const
Definition vpRobot.cpp:248
void setMaxRotationVelocity(double maxVr)
Definition vpRobot.cpp:257
void setMaxTranslationVelocity(double maxVt)
Definition vpRobot.cpp:236
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
vpRxyzVector buildFrom(const vpRotationMatrix &R)