Visual Servoing Platform version 3.5.0
vpRobotViper650.h
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://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
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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 Viper S650 robot controlled by an Adept
33 *MotionBlox.
34 *
35 * Authors:
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
40#ifndef vpRobotViper650_h
41#define vpRobotViper650_h
42
43#include <visp3/core/vpConfig.h>
44
45#ifdef VISP_HAVE_VIPER650
46
47#include <iostream>
48#include <stdio.h>
49
50#include <visp3/core/vpColVector.h>
51#include <visp3/core/vpDebug.h>
52#include <visp3/robot/vpRobot.h>
53#include <visp3/robot/vpViper650.h>
54
55// low level controller api
56extern "C" {
57#include "irisa_Viper650.h"
58#include "trycatch.h"
59}
60
337class VISP_EXPORT vpRobotViper650 : public vpViper650, public vpRobot
338{
339
340public: /* Constantes */
342 typedef enum {
344 MANUAL,
346 ESTOP
347 } vpControlModeType;
348
349 /* Max velocity used during robot control in position.
350 * this value could be changed using setPositioningVelocity().
351 */
352 static const double m_defaultPositioningVelocity; // = 20.0;
353
354private: /* Not allowed functions. */
358 vpRobotViper650(const vpRobotViper650 &robot);
359
360private: /* Attributs prives. */
370 static bool m_robotAlreadyCreated;
371
372 double m_positioningVelocity;
373
374 // Variables used to compute the measured velocities (see getVelocity() )
375 vpColVector m_q_prev_getvel;
376 vpHomogeneousMatrix m_fMc_prev_getvel;
377 vpHomogeneousMatrix m_fMe_prev_getvel;
378 double m_time_prev_getvel;
379 bool m_first_time_getvel;
380
381 // Variables used to compute the measured displacement (see getDisplacement() )
382 vpColVector m_q_prev_getdis;
383 bool m_first_time_getdis;
384 vpControlModeType m_controlMode;
385
386public: /* Methode publiques */
387 explicit vpRobotViper650(bool verbose = true);
388 virtual ~vpRobotViper650(void);
389
390 // Force/Torque control
391 void biasForceTorqueSensor() const;
392
393 void closeGripper() const;
394
395 void disableJoint6Limits() const;
396 void enableJoint6Limits() const;
397
402 vpControlModeType getControlMode() const { return m_controlMode; }
403
405 void getForceTorque(vpColVector &H) const;
406 vpColVector getForceTorque() const;
407
408 double getMaxRotationVelocityJoint6() const;
409
410 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
411 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
412 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
413 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
414
415 double getPositioningVelocity(void) const;
416 bool getPowerState() const;
417
418 double getTime() const;
419 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
420 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
421
422 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
423 vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
424
425 void get_cMe(vpHomogeneousMatrix &cMe) const;
426 void get_cVe(vpVelocityTwistMatrix &cVe) const;
427 void get_eJe(vpMatrix &eJe);
428 void get_fJe(vpMatrix &fJe);
429
430 void init(void);
433 void init(vpViper650::vpToolType tool, const std::string &filename);
434 void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);
435
436 void move(const std::string &filename);
437
438 void openGripper();
439
440 void powerOn();
441 void powerOff();
442
443 static bool readPosFile(const std::string &filename, vpColVector &q);
444 static bool savePosFile(const std::string &filename, const vpColVector &q);
445
446 void set_eMc(const vpHomogeneousMatrix &eMc_);
447 void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);
448
449 void setMaxRotationVelocity(double w_max);
450 void setMaxRotationVelocityJoint6(double w6_max);
451
452 // Position control
453 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
454 void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3,
455 double pos4, double pos5, double pos6);
456 void setPosition(const std::string &filename);
457 void setPositioningVelocity(double velocity);
458
459 // State
461 // Velocity control
462 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
463
464 void stopMotion();
465
466private:
467 double m_maxRotationVelocity_joint6;
468};
469
470#endif
471#endif /* #ifndef vpRobotViper650_h */
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 Viper S650 robot named Viper650.
static const double m_defaultPositioningVelocity
@ AUTO
Automatic control mode (default).
vpControlModeType getControlMode() const
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
void setMaxRotationVelocity(double maxVr)
Definition: vpRobot.cpp:260
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
Class that consider the case of a translation vector.
Modelisation of the ADEPT Viper 650 robot.
Definition: vpViper650.h:103
void init(void)
Definition: vpViper650.cpp:135
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper650.h:127
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
Definition: vpViper.cpp:1230
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpViper.cpp:922
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpViper.cpp:1159
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpViper.cpp:970
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpViper.cpp:938