Visual Servoing Platform version 3.5.0
vpRobot.h
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3 * ViSP, open source Visual Servoing Platform software.
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21 * Campus Universitaire de Beaulieu
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Generic virtual robot.
33 *
34 * Authors:
35 * Eric Marchand
36 *
37 *****************************************************************************/
38
39#ifndef vpRobot_H
40#define vpRobot_H
41
47#include <visp3/core/vpColVector.h>
48#include <visp3/core/vpHomogeneousMatrix.h>
49#include <visp3/core/vpMatrix.h>
50#include <visp3/core/vpPoseVector.h>
51
58class VISP_EXPORT vpRobot
59{
60public:
64 typedef enum {
69 STATE_FORCE_TORQUE_CONTROL
70 } vpRobotStateType;
71
75 typedef enum {
76 REFERENCE_FRAME,
78 ARTICULAR_FRAME,
80 JOINT_STATE = ARTICULAR_FRAME,
82 CAMERA_FRAME,
84 TOOL_FRAME = CAMERA_FRAME,
86 MIXT_FRAME
89 } vpControlFrameType;
90
91private: /* Membres privees */
94
95protected:
97 static const double maxTranslationVelocityDefault; // = 0.2;
99 static const double maxRotationVelocityDefault; // = 0.7;
100
102 int nDof;
111
113 double *qmin;
114 double *qmax;
115
117
118public:
119 vpRobot(void);
120 vpRobot(const vpRobot &robot);
121 virtual ~vpRobot();
122
125
126 //---------- Jacobian -----------------------------
128 virtual void get_eJe(vpMatrix &_eJe) = 0;
131 virtual void get_fJe(vpMatrix &_fJe) = 0;
132
135 virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) = 0;
136
137 double getMaxTranslationVelocity(void) const;
138 double getMaxRotationVelocity(void) const;
140 virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) = 0;
141
142 // Return the robot position (frame has to be specified).
143 vpColVector getPosition(const vpRobot::vpControlFrameType frame);
144 virtual vpRobotStateType getRobotState(void) const { return stateRobot; }
145
146 virtual void init() = 0;
147
148 vpRobot &operator=(const vpRobot &robot);
149
150 void setMaxRotationVelocity(double maxVr);
151 void setMaxTranslationVelocity(double maxVt);
153 virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) = 0;
154 virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);
155
158 virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) = 0;
159 inline void setVerbose(bool verbose) { verbose_ = verbose; };
160
162
165 static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose = false);
167
168protected:
171 vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame);
172 vpControlFrameType getRobotFrame(void) const { return frameRobot; }
174};
175
176#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Class that defines a generic virtual robot.
Definition: vpRobot.h:59
int nDof
number of degrees of freedom
Definition: vpRobot.h:102
static const double maxTranslationVelocityDefault
Definition: vpRobot.h:97
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition: vpRobot.h:104
void setVerbose(bool verbose)
Definition: vpRobot.h:159
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:144
double * qmin
Definition: vpRobot.h:113
vpControlFrameType
Definition: vpRobot.h:75
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:81
static const double maxRotationVelocityDefault
Definition: vpRobot.h:99
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
vpControlFrameType getRobotFrame(void) const
Definition: vpRobot.h:172
double * qmax
Definition: vpRobot.h:114
int areJointLimitsAvailable
Definition: vpRobot.h:112
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:110
vpRobotStateType
Definition: vpRobot.h:64
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:67
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
@ STATE_ACCELERATION_CONTROL
Initialize the acceleration controller.
Definition: vpRobot.h:68
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:65
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:108
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
double maxTranslationVelocity
Definition: vpRobot.h:96
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:106
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
double maxRotationVelocity
Definition: vpRobot.h:98
bool verbose_
Definition: vpRobot.h:116
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.