Visual Servoing Platform version 3.5.0
vpSimulatorViper850.h
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30 *
31 * Description:
32 * Class which provides a simulator for the robot Viper850.
33 *
34 * Authors:
35 * Nicolas Melchior
36 *
37 *****************************************************************************/
38
39#ifndef vpSimulatorViper850_HH
40#define vpSimulatorViper850_HH
41
47#include <visp3/robot/vpRobotWireFrameSimulator.h>
48#if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD))
49
50#include <string>
51
52#include <visp3/robot/vpViper850.h>
53
203{
204public:
205 static const double defaultPositioningVelocity;
206
207private:
208 vpColVector q_prev_getdis;
209 bool first_time_getdis;
210
211 double positioningVelocity;
212
213 vpColVector zeroPos;
214 vpColVector reposPos;
215
216 bool toolCustom;
217 std::string arm_dir;
218
219public:
221 explicit vpSimulatorViper850(bool display);
222 virtual ~vpSimulatorViper850();
223
224 void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height);
227
228 void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &displacement);
229
231 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp);
232 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
233 void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
234 double getPositioningVelocity(void) { return positioningVelocity; }
235
236 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q);
237 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp);
238 vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
239 vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
240
241 void get_cMe(vpHomogeneousMatrix &cMe);
243 void get_eJe(vpMatrix &eJe);
244 void get_fJe(vpMatrix &fJe);
245
246 void
249 bool initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo);
250 void initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo);
251
252 void move(const char *filename);
253
254 static bool readPosFile(const std::string &filename, vpColVector &q);
255 static bool savePosFile(const std::string &filename, const vpColVector &q);
256
257 void setCameraParameters(const vpCameraParameters &cam);
258 void setJointLimit(const vpColVector &limitMin, const vpColVector &limitMax);
259 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
260 void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3,
261 double pos4, double pos5, double pos6);
262 void setPosition(const char *filename);
263 void setPositioningVelocity(double vel) { positioningVelocity = vel; }
265
266 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
267
268 void stopMotion();
269
270protected:
274 void compute_fMi();
275 void findHighestPositioningSpeed(vpColVector &q);
277
278 inline void get_fMi(vpHomogeneousMatrix *fMit)
279 {
280#if defined(_WIN32)
281#if defined(WINRT_8_1)
282 WaitForSingleObjectEx(mutex_fMi, INFINITE, FALSE);
283#else // pure win32
284 WaitForSingleObject(mutex_fMi, INFINITE);
285#endif
286 for (int i = 0; i < 8; i++)
287 fMit[i] = fMi[i];
288 ReleaseMutex(mutex_fMi);
289#elif defined(VISP_HAVE_PTHREAD)
290 pthread_mutex_lock(&mutex_fMi);
291 for (int i = 0; i < 8; i++)
292 fMit[i] = fMi[i];
293 pthread_mutex_unlock(&mutex_fMi);
294#endif
295 }
296 void init();
297 void initArms();
298 void initDisplay();
299 int isInJointLimit(void);
300 bool singularityTest(const vpColVector &q, vpMatrix &J);
303};
304
305#endif
306
307#endif
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 pose vector and operations on poses.
Definition: vpPoseVector.h:152
This class aims to be a basis used to create all the simulators of robots.
virtual void computeArticularVelocity()=0
virtual int isInJointLimit()=0
virtual void initArms()=0
virtual void updateArticularPosition()=0
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 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
vpRobotStateType
Definition: vpRobot.h:64
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
virtual void get_fJe(vpMatrix &_fJe)=0
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.
Simulator of Irisa's Viper S850 robot named Viper850.
void get_fMi(vpHomogeneousMatrix *fMit)
static const double defaultPositioningVelocity
void setPositioningVelocity(double vel)
double getPositioningVelocity(void)
Modelisation of the ADEPT Viper 850 robot.
Definition: vpViper850.h:104
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpViper850.cpp:558
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper850.h:128
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpViper.cpp:922
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpViper.cpp:938
void getExternalImage(vpImage< unsigned char > &I)