Visual Servoing Platform version 3.5.0
vpRobotBiclops.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
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20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Interface for the Biclops robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef _vpRobotBiclops_h_
40#define _vpRobotBiclops_h_
41
42#include <visp3/core/vpConfig.h>
43
44#ifdef VISP_HAVE_BICLOPS
45
46/* ------------------------------------------------------------------------ */
47/* --- INCLUDES ----------------------------------------------------------- */
48/* ------------------------------------------------------------------------ */
49
50/* --- GENERAL --- */
51#include <iostream>
52#include <pthread.h>
53#include <stdio.h>
54
55/* --- ViSP --- */
56#include <visp3/core/vpColVector.h>
57#include <visp3/core/vpVelocityTwistMatrix.h>
58#include <visp3/robot/vpBiclops.h>
59#include <visp3/robot/vpRobot.h>
60#include <visp3/robot/vpRobotBiclopsController.h>
61
62/* ------------------------------------------------------------------------ */
63/* --- CLASS -------------------------------------------------------------- */
64/* ------------------------------------------------------------------------ */
65
94class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
95{
96public:
97 static const double defaultPositioningVelocity;
98
100 explicit vpRobotBiclops(const std::string &filename);
101 virtual ~vpRobotBiclops();
102
103 void init();
104
105 void get_cMe(vpHomogeneousMatrix &_cMe) const;
106 void get_cVe(vpVelocityTwistMatrix &_cVe) const;
107 void get_eJe(vpMatrix &_eJe);
108 void get_fJe(vpMatrix &_fJe);
109
112 double getPositioningVelocity(void);
113 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
114 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
115
116 bool readPositionFile(const std::string &filename, vpColVector &q);
117
118 void setConfigFile(const std::string &filename = "/usr/share/BiclopsDefault.cfg");
119 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
120 void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
121 void setPosition(const char *filename);
122 void setPositioningVelocity(double velocity);
124 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot);
125
126 void stopMotion();
127
128 static void *vpRobotBiclopsSpeedControlLoop(void *arg);
129
130private:
131 static bool robotAlreadyCreated;
132 pthread_t control_thread;
133
134 std::string configfile; // Biclops config file
135
136 vpRobotBiclopsController controller;
137
138 double positioningVelocity;
139 vpColVector q_previous;
140 bool controlThreadCreated;
141
142 // private:
143 //#ifndef DOXYGEN_SHOULD_SKIP_THIS
144 // /*! \brief No copy constructor allowed. */
145 // vpRobotBiclops(const vpRobotBiclops &)
146 // : vpBiclops(), vpRobot(), control_thread(), controller(),
147 // positioningVelocity(0), q_previous(), controlThreadCreated(false)
148 // {
149 // throw vpException(vpException::functionNotImplementedError, "Not
150 // implemented!");
151 // }
152 // vpRobotBiclops &operator=(const vpRobotBiclops &){
153 // throw vpException(vpException::functionNotImplementedError, "Not
154 // implemented!"); return *this;
155 // }
156 //#endif
157};
158
159#endif /* #ifndef _vpRobotBiclops_h_ */
160
161#endif
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:78
void init(void)
Definition: vpBiclops.cpp:282
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Definition: vpBiclops.cpp:312
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpBiclops.cpp:394
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:157
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpBiclops.cpp:360
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
Interface for the biclops, pan, tilt head control.
static const double defaultPositioningVelocity
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
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.