Visual Servoing Platform version 3.5.0
vpAfma6.h
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21 * Campus Universitaire de Beaulieu
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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.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef _vpAfma6_h
40#define _vpAfma6_h
41
72#include <visp3/core/vpCameraParameters.h>
73#include <visp3/core/vpHomogeneousMatrix.h>
74#include <visp3/core/vpImage.h>
75#include <visp3/core/vpRGBa.h>
76#include <visp3/core/vpVelocityTwistMatrix.h>
77
78class VISP_EXPORT vpAfma6
79{
80public:
81#ifdef VISP_HAVE_AFMA6_DATA
85 static const std::string CONST_AFMA6_FILENAME;
96 static const std::string CONST_CAMERA_AFMA6_FILENAME;
97#endif
102 static const char *const CONST_CCMOP_CAMERA_NAME;
107 static const char *const CONST_GRIPPER_CAMERA_NAME;
112 static const char *const CONST_VACUUM_CAMERA_NAME;
117 static const char *const CONST_GENERIC_CAMERA_NAME;
118
123 static const char *const CONST_INTEL_D435_CAMERA_NAME;
124
126 typedef enum {
132 TOOL_CUSTOM
133 } vpAfma6ToolType;
134
137
138public:
139 vpAfma6();
141 virtual ~vpAfma6(){};
142
145 void init(void);
146 void init(const std::string &camera_extrinsic_parameters);
147 void init(const std::string &camera_extrinsic_parameters, const std::string &camera_intrinsic_parameters);
148 void init(vpAfma6::vpAfma6ToolType tool, const std::string &filename);
149 void init(vpAfma6::vpAfma6ToolType tool, const vpHomogeneousMatrix &eMc_);
150 void
151 init(vpAfma6::vpAfma6ToolType tool,
153
154 vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
155 int getInverseKinematics(const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &nearest = true,
156 const bool &verbose = false) const;
157
158 vpHomogeneousMatrix get_eMc() const;
159 vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
160 void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
161 void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
162
163 void get_cMe(vpHomogeneousMatrix &cMe) const;
164 void get_cVe(vpVelocityTwistMatrix &cVe) const;
165 void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
166 void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
167
169 vpAfma6ToolType getToolType() const { return tool_current; };
172
173 void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
174 const unsigned int &image_height) const;
175 void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I) const;
176 void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
177
178 vpColVector getJointMin() const;
179 vpColVector getJointMax() const;
180 double getCoupl56() const;
181 double getLong56() const;
182
183 void parseConfigFile(const std::string &filename);
184
185 virtual void set_eMc(const vpHomogeneousMatrix &eMc);
187
188 friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpAfma6 &afma6);
189
190protected:
194 void setToolType(vpAfma6::vpAfma6ToolType tool) { tool_current = tool; };
196
197public:
198 static const unsigned int njoint;
199
200protected:
201 double _coupl_56; // coupling between join 5 and 6
202 double _long_56; // distance between join 5 and 6
203 double _joint_max[6]; // Maximal value of the joints
204 double _joint_min[6]; // Minimal value of the joints
205 // Minimal representation of _eMc
208
209 vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
210
211protected:
214 // Used projection model
216};
217
218#endif
Modelisation of Irisa's gantry robot named Afma6.
Definition: vpAfma6.h:79
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:94
static const char *const CONST_CCMOP_CAMERA_NAME
Definition: vpAfma6.h:102
static const std::string CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:87
static const std::string CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:86
static const std::string CONST_EMC_INTEL_D435_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:92
static const std::string CONST_CAMERA_AFMA6_FILENAME
Definition: vpAfma6.h:96
static const unsigned int njoint
Number of joint.
Definition: vpAfma6.h:198
vpRxyzVector _erc
Definition: vpAfma6.h:207
static const char *const CONST_VACUUM_CAMERA_NAME
Definition: vpAfma6.h:112
static const std::string CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:88
void setToolType(vpAfma6::vpAfma6ToolType tool)
Set the current tool type.
Definition: vpAfma6.h:194
vpAfma6ToolType getToolType() const
Get the current tool type.
Definition: vpAfma6.h:169
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
Definition: vpAfma6.h:171
double _coupl_56
Definition: vpAfma6.h:201
static const std::string CONST_EMC_INTEL_D435_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:93
static const char *const CONST_INTEL_D435_CAMERA_NAME
Definition: vpAfma6.h:123
virtual ~vpAfma6()
Definition: vpAfma6.h:141
static const vpAfma6ToolType defaultTool
Default tool attached to the robot end effector.
Definition: vpAfma6.h:136
static const char *const CONST_GRIPPER_CAMERA_NAME
Definition: vpAfma6.h:107
static const std::string CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:89
vpHomogeneousMatrix _eMc
Definition: vpAfma6.h:209
double _long_56
Definition: vpAfma6.h:202
vpTranslationVector _etc
Definition: vpAfma6.h:206
vpAfma6ToolType tool_current
Current tool in use.
Definition: vpAfma6.h:213
static const char *const CONST_GENERIC_CAMERA_NAME
Definition: vpAfma6.h:117
vpCameraParameters::vpCameraParametersProjType projModel
Definition: vpAfma6.h:215
static const std::string CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:90
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:95
static const std::string CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:91
static const std::string CONST_AFMA6_FILENAME
Definition: vpAfma6.h:85
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpAfma6.h:126
@ TOOL_CCMOP
Definition: vpAfma6.h:127
@ TOOL_GENERIC_CAMERA
Definition: vpAfma6.h:130
@ TOOL_VACUUM
Definition: vpAfma6.h:129
@ TOOL_INTEL_D435_CAMERA
Definition: vpAfma6.h:131
@ TOOL_GRIPPER
Definition: vpAfma6.h:128
Generic class defining intrinsic camera parameters.
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 rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:184
Class that consider the case of a translation vector.