Visual Servoing Platform  version 3.2.0 under development (2018-08-20)
vpRobotBiclops Class Reference

#include <visp3/robot/vpRobotBiclops.h>

+ Inheritance diagram for vpRobotBiclops:

Public Types

enum  DenavitHartenbergModel { DH1, DH2 }
 
enum  vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }
 
enum  vpControlFrameType {
  REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME,
  CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME
}
 

Public Member Functions

 vpRobotBiclops (void)
 
 vpRobotBiclops (const std::string &filename)
 
virtual ~vpRobotBiclops (void)
 
void init (void)
 
void get_cMe (vpHomogeneousMatrix &_cMe) const
 
void get_cVe (vpVelocityTwistMatrix &_cVe) const
 
void get_eJe (vpMatrix &_eJe)
 
void get_fJe (vpMatrix &_fJe)
 
void getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &d)
 
void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)
 
double getPositioningVelocity (void)
 
void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &q_dot)
 
vpColVector getVelocity (const vpRobot::vpControlFrameType frame)
 
bool readPositionFile (const std::string &filename, vpColVector &q)
 
void setConfigFile (const std::string &filename="/usr/share/BiclopsDefault.cfg")
 
void setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)
 
void setPosition (const vpRobot::vpControlFrameType frame, const double &q1, const double &q2)
 
void setPosition (const char *filename)
 
void setPositioningVelocity (const double velocity)
 
vpRobot::vpRobotStateType setRobotState (const vpRobot::vpRobotStateType newState)
 
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &q_dot)
 
void stopMotion ()
 
Inherited functionalities from vpBiclops
void computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc) const
 
vpHomogeneousMatrix computeMGD (const vpColVector &q) const
 
void computeMGD (const vpColVector &q, vpPoseVector &fvc) const
 
vpHomogeneousMatrix get_cMe () const
 
void get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const
 
void get_fMc (const vpColVector &q, vpPoseVector &fvc) const
 
vpHomogeneousMatrix get_fMc (const vpColVector &q) const
 
vpHomogeneousMatrix get_fMe (const vpColVector &q) const
 
void get_eJe (const vpColVector &q, vpMatrix &eJe) const
 
void get_fJe (const vpColVector &q, vpMatrix &fJe) const
 
vpBiclops::DenavitHartenbergModel getDenavitHartenbergModel () const
 
void set_cMe ()
 
void set_cMe (const vpHomogeneousMatrix &cMe)
 
void setDenavitHartenbergModel (vpBiclops::DenavitHartenbergModel m=vpBiclops::DH1)
 
Inherited functionalities from vpRobot
double getMaxTranslationVelocity (void) const
 
double getMaxRotationVelocity (void) const
 
vpColVector getPosition (const vpRobot::vpControlFrameType frame)
 
virtual vpRobotStateType getRobotState (void) const
 
void setMaxRotationVelocity (const double maxVr)
 
void setMaxTranslationVelocity (const double maxVt)
 
void setVerbose (bool verbose)
 

Static Public Member Functions

static void * vpRobotBiclopsSpeedControlLoop (void *arg)
 
Static Public Member Functions inherited from vpRobot
static vpColVector saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
 

Static Public Attributes

static const double defaultPositioningVelocity = 10.0
 
static const unsigned int ndof = 2
 
static const float h = 0.048f
 
static const float panJointLimit = (float)(M_PI)
 
static const float tiltJointLimit = (float)(M_PI / 4.5)
 
static const float speedLimit = (float)(M_PI / 3.0)
 

Protected Member Functions

Protected Member Functions Inherited from vpRobot
vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame)
 
vpControlFrameType getRobotFrame (void) const
 

Protected Attributes

DenavitHartenbergModel dh_model_
 
vpHomogeneousMatrix cMe_
 
double maxTranslationVelocity
 
double maxRotationVelocity
 
int nDof
 
vpMatrix eJe
 
int eJeAvailable
 
vpMatrix fJe
 
int fJeAvailable
 
int areJointLimitsAvailable
 
double * qmin
 
double * qmax
 
bool verbose_
 

Static Protected Attributes

static const double maxTranslationVelocityDefault = 0.2
 
static const double maxRotationVelocityDefault = 0.7
 

Detailed Description

Interface for the biclops, pan, tilt head control.

See http://www.traclabs.com/biclopspt.html for more details.

This class provide a position and a speed control interface for the biclops head. To manage the biclops joint limits in speed control, a control loop is running in a seperate thread (see vpRobotBiclopsSpeedControlLoop()).

The control of the head is done by vpRobotBiclopsController class.

Warning
Velocity control mode is not exported from the top-level Biclops API class provided by Traclabs. That means that there is no protection in this mode to prevent an axis from striking its hard limit. In position mode, Traclabs put soft limits in that keep any command from driving to a position too close to the hard limits. In velocity mode this protection does not exist in the current API.
With the understanding that hitting the hard limits at full speed/power can damage the unit, damage due to velocity mode commanding is under user responsibility.
Examples:
moveBiclops.cpp, servoBiclopsPoint2DArtVelocity.cpp, and servoPioneerPanSegment3D.cpp.

Definition at line 94 of file vpRobotBiclops.h.

Member Enumeration Documentation

Two different Denavit Hartenberg representations of the robot are implemented. They differ in the orientation of the tilt axis.

The first representation, vpBiclops::DH1 is given by:

\[ \begin{tabular}{|c|c|c|c|c|} \hline Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ \hline 1 & 0 & 0 & $-\pi/2$ & $q_1^*$ \\ 2 & 0 & 0 & $ \pi/2$ & $q_2^* + \pi/2$ \\ \hline \end{tabular} \]

The second one, vpBiclops::DH2 is given by:

\[ \begin{tabular}{|c|c|c|c|c|} \hline Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ \hline 1 & 0 & 0 & $ \pi/2$ & $q_1^*$ \\ 2 & 0 & 0 & $ -\pi/2$ & $q_2^* - \pi/2$ \\ \hline \end{tabular} \]

where $q_1^*, q_2^*$ are respectively the pan and tilt joint positions.

In those representations, the pan is oriented from left to right, while the tilt is oriented

Enumerator
DH1 

First Denavit Hartenberg representation.

DH2 

Second Denavit Hartenberg representation.

Definition at line 120 of file vpBiclops.h.

Robot control frames.

Enumerator
REFERENCE_FRAME 

Corresponds to a fixed reference frame attached to the robot structure.

ARTICULAR_FRAME 

Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.

JOINT_STATE 

Corresponds to the joint state.

END_EFFECTOR_FRAME 

Corresponds to robot end-effector frame.

CAMERA_FRAME 

Corresponds to a frame attached to the camera mounted on the robot end-effector.

TOOL_FRAME 

Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.

MIXT_FRAME 

Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 75 of file vpRobot.h.

enum vpRobot::vpRobotStateType
inherited

Robot control states.

Enumerator
STATE_STOP 

Stops robot motion especially in velocity and acceleration control.

STATE_VELOCITY_CONTROL 

Initialize the velocity controller.

STATE_POSITION_CONTROL 

Initialize the position controller.

STATE_ACCELERATION_CONTROL 

Initialize the acceleration controller.

Definition at line 64 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobotBiclops::vpRobotBiclops ( void  )

Default constructor.

Does nothing more than setting the default configuration file to /usr/share/BiclopsDefault.cfg.

As shown in the following example,the turret need to be initialized using init() function.

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpRobotBiclops.h>
int main()
{
#ifdef VISP_HAVE_BICLOPS
vpRobotBiclops robot; // Use the default config file in
/usr/share/BiclopsDefault.cfg"
// Specify the config file location
robot.setConfigFile("/usr/share/BiclopsDefault.cfg"); // Not mandatory since the file is the default one
// Initialize the head
robot.init();
// Move the robot to a specified pan and tilt
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL) ;
vpColVector q(2);
q[0] = vpMath::rad(20); // pan
q[1] = vpMath::rad(40); // tilt
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
#endif
return 0;
}

Definition at line 114 of file vpRobotBiclops.cpp.

References setConfigFile(), and vpDEBUG_TRACE.

vpRobotBiclops::vpRobotBiclops ( const std::string &  filename)
explicit

Default constructor.

Initialize the biclops pan, tilt head by reading the configuration file provided by Traclabs and do the homing sequence.

The following example shows how to use the constructor.

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpRobotBiclops.h>
int main()
{
#ifdef VISP_HAVE_BICLOPS
// Specify the config file location and initialize the turret
vpRobotBiclops robot("/usr/share/BiclopsDefault.cfg");
// Move the robot to a specified pan and tilt
q[0] = vpMath::rad(-20); // pan
q[1] = vpMath::rad(10); // tilt
#endif
return 0;
}

Definition at line 164 of file vpRobotBiclops.cpp.

References init(), setConfigFile(), and vpDEBUG_TRACE.

vpRobotBiclops::~vpRobotBiclops ( void  )
virtual

Destructor. Wait the end of the control thread.

Definition at line 190 of file vpRobotBiclops.cpp.

References setRobotState(), vpRobot::STATE_STOP, vpCERROR, and vpDEBUG_TRACE.

Member Function Documentation

void vpBiclops::computeMGD ( const vpColVector q,
vpHomogeneousMatrix fMc 
) const
inherited

Compute the direct geometric model of the camera: fMc

Warning
Provided for compatibilty with previous versions. Use rather get_fMc(const vpColVector &, vpHomogeneousMatrix &).
Parameters
q: Articular position for pan and tilt axis.
fMc: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.
See also
get_fMc(const vpColVector &, vpHomogeneousMatrix &)

Definition at line 75 of file vpBiclops.cpp.

References vpBiclops::cMe_, vpBiclops::get_fMe(), vpHomogeneousMatrix::inverse(), and vpCDEBUG.

Referenced by vpBiclops::computeMGD().

vpHomogeneousMatrix vpBiclops::computeMGD ( const vpColVector q) const
inherited

Return the direct geometric model of the camera: fMc

Warning
Provided for compatibilty with previous versions. Use rather get_fMc(const vpColVector &).
Parameters
q: Articular position for pan and tilt axis.
Returns
fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.
See also
get_fMc(const vpColVector &)

Definition at line 119 of file vpBiclops.cpp.

References vpBiclops::computeMGD().

void vpBiclops::computeMGD ( const vpColVector q,
vpPoseVector fvc 
) const
inherited

Compute the direct geometric model of the camera in terms of pose vector.

Warning
Provided for compatibilty with previous versions. Use rather get_fMc(const vpColVector &, vpPoseVector &).
Parameters
q: Articular position for pan and tilt axis.
fvc: Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame.
See also
get_fMc(const vpColVector &, vpPoseVector &)

Definition at line 233 of file vpBiclops.cpp.

References vpPoseVector::buildFrom(), vpBiclops::get_fMc(), and vpHomogeneousMatrix::inverse().

void vpRobotBiclops::get_cMe ( vpHomogeneousMatrix cMe) const

Get the homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters
cMe: Homogeneous matrix between camera and end effector frame.

Definition at line 635 of file vpRobotBiclops.cpp.

References vpBiclops::get_cMe().

vpHomogeneousMatrix vpBiclops::get_cMe ( ) const
inlineinherited

Return the tranformation ${^c}{\bf M}_e$ between the camera frame and the end effector frame.

Definition at line 157 of file vpBiclops.h.

Referenced by get_cMe(), and get_cVe().

void vpRobotBiclops::get_cVe ( vpVelocityTwistMatrix cVe) const

Get the twist matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Parameters
cVe: Twist transformation between camera and end effector frame to expess a velocity skew from end effector frame in camera frame.

Definition at line 618 of file vpRobotBiclops.cpp.

References vpVelocityTwistMatrix::buildFrom(), and vpBiclops::get_cMe().

void vpRobotBiclops::get_eJe ( vpMatrix _eJe)
virtual

Get the robot jacobian expressed in the end-effector frame.

Warning
Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).
Parameters
_eJe: Jacobian between end effector frame and end effector frame (on tilt axis).

Implements vpRobot.

Definition at line 647 of file vpRobotBiclops.cpp.

References vpRobot::ARTICULAR_FRAME, vpBiclops::get_eJe(), getPosition(), and vpERROR_TRACE.

void vpBiclops::get_eJe ( const vpColVector q,
vpMatrix eJe 
) const
inherited

Get the robot jacobian expressed in the end-effector frame.

Warning
Re is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).
Parameters
q: Articular position for pan and tilt axis.
eJe: Jacobian between end effector frame and end effector frame (on tilt axis).

Definition at line 360 of file vpBiclops.cpp.

References vpBiclops::DH1, vpBiclops::dh_model_, vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpERROR_TRACE.

Referenced by get_eJe().

void vpRobotBiclops::get_fJe ( vpMatrix _fJe)
virtual

Get the robot jacobian expressed in the robot reference frame

Parameters
_fJe: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Implements vpRobot.

Definition at line 667 of file vpRobotBiclops.cpp.

References vpRobot::ARTICULAR_FRAME, vpBiclops::get_fJe(), getPosition(), and vpERROR_TRACE.

void vpBiclops::get_fJe ( const vpColVector q,
vpMatrix fJe 
) const
inherited

Get the robot jacobian expressed in the robot reference frame

Parameters
q: Articular position for pan and tilt axis.
fJe: Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Definition at line 394 of file vpBiclops.cpp.

References vpBiclops::DH1, vpBiclops::dh_model_, vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< Type >::resize(), and vpERROR_TRACE.

Referenced by get_fJe().

void vpBiclops::get_fMc ( const vpColVector q,
vpHomogeneousMatrix fMc 
) const
inherited

Compute the direct geometric model of the camera: fMc

Parameters
q: Articular position for pan and tilt axis.
fMc: Homogeneous matrix corresponding to the direct geometric model of the camera. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 95 of file vpBiclops.cpp.

References vpBiclops::cMe_, vpBiclops::get_fMe(), vpHomogeneousMatrix::inverse(), and vpCDEBUG.

Referenced by vpBiclops::computeMGD(), vpBiclops::get_fMc(), and getDisplacement().

void vpBiclops::get_fMc ( const vpColVector q,
vpPoseVector fvc 
) const
inherited

Compute the direct geometric model of the camera in terms of pose vector.

Parameters
q: Articular position for pan and tilt axis.
fvc: Pose vector corresponding to the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 253 of file vpBiclops.cpp.

References vpPoseVector::buildFrom(), vpBiclops::get_fMc(), and vpHomogeneousMatrix::inverse().

vpHomogeneousMatrix vpBiclops::get_fMc ( const vpColVector q) const
inherited

Return the direct geometric model of the camera: fMc

Parameters
q: Articular position for pan and tilt axis.
Returns
fMc, the homogeneous matrix corresponding to the direct geometric model of the camera. Discribes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 138 of file vpBiclops.cpp.

References vpBiclops::get_fMc().

vpHomogeneousMatrix vpBiclops::get_fMe ( const vpColVector q) const
inherited

Return the direct geometric model of the end effector: fMe

Parameters
q: Articular position for pan and tilt axis.
Returns
fMe, the homogeneous matrix corresponding to the direct geometric model of the end effector. Describes the transformation between the robot reference frame (called fixed) and the end effector frame.

Definition at line 157 of file vpBiclops.cpp.

References vpBiclops::DH1, vpBiclops::dh_model_, vpException::dimensionError, vpArray2D< Type >::getRows(), and vpERROR_TRACE.

Referenced by vpBiclops::computeMGD(), and vpBiclops::get_fMc().

vpBiclops::DenavitHartenbergModel vpBiclops::getDenavitHartenbergModel ( ) const
inlineinherited

Return the Denavit Hartenberg representation used to model the head.

See also
vpBiclops::DenavitHartenbergModel

Definition at line 172 of file vpBiclops.h.

void vpRobotBiclops::getDisplacement ( const vpRobot::vpControlFrameType  frame,
vpColVector d 
)
virtual

Get the robot displacement since the last call of this method.

Warning
The first call of this method gives not a good value for the displacement.
Parameters
frameThe frame in which the measured displacement is expressed.
dThe displacement:
  • In articular, the dimension of q is 2 (the number of axis of the robot) with respectively d[0] (pan displacement), d[1] (tilt displacement).
  • In camera frame, the dimension of d is 6 (tx, ty, ty, tux, tuy, tuz). Translations are expressed in meters, rotations in radians with the theta U representation.
Exceptions
vpRobotException::wrongStateErrorIf a not supported frame type is given.

Implements vpRobot.

Definition at line 1215 of file vpRobotBiclops.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpBiclops::get_fMc(), getPosition(), vpExponentialMap::inverse(), vpHomogeneousMatrix::inverse(), vpRobot::MIXT_FRAME, vpBiclops::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpRobotException::wrongStateError.

double vpRobot::getMaxTranslationVelocity ( void  ) const
inherited
void vpRobotBiclops::getPosition ( const vpRobot::vpControlFrameType  frame,
vpColVector q 
)
virtual

Return the position of each axis.

  • In positionning control mode, call vpRobotBiclopsController::getPosition()
  • In speed control mode, call vpRobotBiclopsController::getActualPosition()
Parameters
frame: Control frame. This biclops head can only be controlled in articular.
q: The position of the axis in radians.
Exceptions
vpRobotException::wrongStateError: If a not supported frame type is given.

Implements vpRobot.

Examples:
servoPioneerPanSegment3D.cpp.

Definition at line 834 of file vpRobotBiclops.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpRobot::MIXT_FRAME, vpBiclops::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpRobot::STATE_ACCELERATION_CONTROL, vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, vpColVector::t(), vpCDEBUG, vpDEBUG_TRACE, and vpRobotException::wrongStateError.

Referenced by get_eJe(), get_fJe(), and getDisplacement().

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame)
inherited

Return the current robot position in the specified frame.

Definition at line 216 of file vpRobot.cpp.

References vpRobot::getPosition().

double vpRobotBiclops::getPositioningVelocity ( void  )

Get the velocity in % used for a position control.

Returns
Positionning velocity in [0, 100.0]. The maximum positionning velocity is given vpBiclops::speedLimit.

Definition at line 703 of file vpRobotBiclops.cpp.

vpControlFrameType vpRobot::getRobotFrame ( void  ) const
inlineprotectedinherited
void vpRobotBiclops::getVelocity ( const vpRobot::vpControlFrameType  frame,
vpColVector q_dot 
)

Get the articular velocity.

Parameters
frame: Control frame. This head can only be controlled in articular.
q_dot: The measured articular velocity in rad/s.
Exceptions
vpRobotException::wrongStateError: If a not supported frame type is given.

Definition at line 1034 of file vpRobotBiclops.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpRobot::MIXT_FRAME, vpBiclops::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpRobot::STATE_ACCELERATION_CONTROL, vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, vpColVector::t(), vpCDEBUG, vpDEBUG_TRACE, and vpRobotException::wrongStateError.

Referenced by getVelocity().

vpColVector vpRobotBiclops::getVelocity ( const vpRobot::vpControlFrameType  frame)

Return the articular velocity.

Parameters
frame: Control frame. This head can only be controlled in articular.
Returns
The measured articular velocity in rad/s.
Exceptions
vpRobotException::wrongStateError: If a not supported frame type is given.

Definition at line 1108 of file vpRobotBiclops.cpp.

References getVelocity().

void vpRobotBiclops::init ( void  )
virtual

Set the Biclops config filename. Check if the config file exists and initialize the head.

Exceptions
vpRobotException::constructionErrorIf the config file cannot be oppened.

Implements vpRobot.

Definition at line 243 of file vpRobotBiclops.cpp.

References vpRobotException::constructionError, vpBiclops::ndof, vpColVector::resize(), setRobotState(), vpRobot::STATE_STOP, vpCERROR, and vpERROR_TRACE.

Referenced by vpRobotBiclops().

bool vpRobotBiclops::readPositionFile ( const std::string &  filename,
vpColVector q 
)

Get an articular position from the position file.

Parameters
filename: Position file.
q: The articular position read in the file.
# Example of biclops position file
# The axis positions must be preceed by R:
# First value : pan articular position in degrees
# Second value: tilt articular position in degrees
R: 15.0 5.0
Returns
true if a position was found, false otherwise.

Definition at line 1135 of file vpRobotBiclops.cpp.

References vpColVector::deg2rad(), vpBiclops::ndof, vpColVector::resize(), and vpIoTools::splitChain().

Referenced by setPosition().

vpColVector vpRobot::saturateVelocities ( const vpColVector v_in,
const vpColVector v_max,
bool  verbose = false 
)
staticinherited

Saturate velocities.

Parameters
v_in: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose: Print a message indicating which axis causes the saturation.
Returns
Saturated velocities.
Exceptions
vpRobotException::dimensionError: If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
// Set a velocity skew vector
v[0] = 0.1; // vx in m/s
v[1] = 0.2; // vy
v[2] = 0.3; // vz
v[3] = vpMath::rad(10); // wx in rad/s
v[4] = vpMath::rad(-10); // wy
v[5] = vpMath::rad(20); // wz
// Set the maximal allowed velocities
vpColVector v_max(6);
for (int i=0; i<3; i++)
v_max[i] = 0.3; // in translation (m/s)
for (int i=3; i<6; i++)
v_max[i] = vpMath::rad(10); // in rotation (rad/s)
// Compute the saturated velocity skew vector
vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
std::cout << "v : " << v.t() << std::endl;
std::cout << "v max: " << v_max.t() << std::endl;
std::cout << "v sat: " << v_sat.t() << std::endl;
return 0;
}

Definition at line 163 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotFranka::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

void vpBiclops::set_cMe ( )
inherited

Set the default homogeneous matrix corresponding to the transformation between the camera frame and the end effector frame. The end effector frame is located on the tilt axis.

Definition at line 321 of file vpBiclops.cpp.

References vpBiclops::cMe_, vpBiclops::h, and vpHomogeneousMatrix::inverse().

Referenced by vpBiclops::init().

void vpBiclops::set_cMe ( const vpHomogeneousMatrix cMe)
inlineinherited

Set the transformation between the camera frame and the end effector frame.

Definition at line 179 of file vpBiclops.h.

void vpRobotBiclops::setConfigFile ( const std::string &  filename = "/usr/share/BiclopsDefault.cfg")

Set the Biclops config filename.

Definition at line 232 of file vpRobotBiclops.cpp.

Referenced by vpRobotBiclops().

void vpBiclops::setDenavitHartenbergModel ( vpBiclops::DenavitHartenbergModel  m = vpBiclops::DH1)
inlineinherited

Set the Denavit Hartenberg representation used to model the head.

See also
vpBiclops::DenavitHartenbergModel
Examples:
servoPioneerPanSegment3D.cpp.

Definition at line 185 of file vpBiclops.h.

void vpRobot::setMaxRotationVelocity ( const double  w_max)
inherited
void vpRobot::setMaxTranslationVelocity ( const double  v_max)
inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters
v_max: Maximum translation velocity expressed in m/s.
Examples:
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 239 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

void vpRobotBiclops::setPosition ( const vpRobot::vpControlFrameType  frame,
const vpColVector q 
)
virtual

Move the robot in position control.

Warning
This method is blocking. That mean that it waits the end of the positionning.
Parameters
frame: Control frame. This biclops head can only be controlled in articular.
q: The position to set for each axis in radians.
Exceptions
vpRobotException::wrongStateError: If a not supported frame type is given.

Implements vpRobot.

Examples:
servoPioneerPanSegment3D.cpp.

Definition at line 720 of file vpRobotBiclops.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpDEBUG_TRACE, vpERROR_TRACE, and vpRobotException::wrongStateError.

Referenced by setPosition().

void vpRobotBiclops::setPosition ( const vpRobot::vpControlFrameType  frame,
const double &  q1,
const double &  q2 
)

Move the robot in position control.

Warning
This method is blocking. That mean that it wait the end of the positionning.
Parameters
frame: Control frame. This biclops head can only be controlled in articular.
q1: The pan position to set in radians.
q2: The tilt position to set in radians.
Exceptions
vpRobotException::wrongStateError: If a not supported frame type is given.

Definition at line 782 of file vpRobotBiclops.cpp.

References setPosition(), and vpERROR_TRACE.

void vpRobotBiclops::setPosition ( const char *  filename)

Read the content of the position file and moves to head to articular position.

Parameters
filename: Position filename
Exceptions
vpRobotException::readingParametersError: If the articular position cannot be read from file.
See also
readPositionFile()

Definition at line 809 of file vpRobotBiclops.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobotException::readingParametersError, readPositionFile(), setPosition(), and vpERROR_TRACE.

void vpRobotBiclops::setPositioningVelocity ( const double  velocity)

Set the velocity used for a position control.

Parameters
velocity: Velocity in % of the maximum velocity between [0,100]. The maximum velocity is given vpBiclops::speedLimit.

Definition at line 687 of file vpRobotBiclops.cpp.

References vpRobotException::constructionError, and vpERROR_TRACE.

vpRobot::vpRobotStateType vpRobotBiclops::setRobotState ( const vpRobot::vpRobotStateType  newState)
virtual

Change the state of the robot either to stop them, or to set position or speed control.

Reimplemented from vpRobot.

Examples:
servoPioneerPanSegment3D.cpp.

Definition at line 549 of file vpRobotBiclops.cpp.

References vpRobot::getRobotState(), vpRobot::setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, stopMotion(), vpCERROR, vpDEBUG_TRACE, and vpRobotBiclopsSpeedControlLoop().

Referenced by init(), setPosition(), and ~vpRobotBiclops().

void vpRobotBiclops::setVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector q_dot 
)
virtual

Send a velocity on each axis.

Parameters
frame: Control frame. This biclops head can only be controlled in articular. Be aware, the camera frame (vpRobot::CAMERA_FRAME), the reference frame (vpRobot::REFERENCE_FRAME), end-effector frame (vpRobot::END_EFFECTOR_FRAME) and the mixt frame (vpRobot::MIXT_FRAME) are not implemented.
q_dot: The desired articular velocity of the axis in rad/s. $ \dot {r} = [\dot{q}_1, \dot{q}_2]^t $ with $ \dot{q}_1 $ the pan of the camera and $ \dot{q}_2$ the tilt of the camera.
Exceptions
vpRobotException::wrongStateError: If a the robot is not configured to handle a velocity. The robot can handle a velocity only if the velocity control mode is set. For that, call setRobotState( vpRobot::STATE_VELOCITY_CONTROL) before setVelocity().
vpRobotException::wrongStateError: If a not supported frame type (vpRobot::CAMERA_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::END_EFFECTOR_FRAME or vpRobot::MIXT_FRAME) is given.
Warning
Velocities could be saturated if one of them exceed the maximal autorized speed (see vpRobot::maxRotationVelocity).

Implements vpRobot.

Examples:
servoPioneerPanSegment3D.cpp.

Definition at line 923 of file vpRobotBiclops.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpArray2D< Type >::getRows(), vpRobot::MIXT_FRAME, vpBiclops::ndof, vpRobot::REFERENCE_FRAME, vpBiclops::speedLimit, vpRobot::STATE_VELOCITY_CONTROL, vpColVector::t(), vpCDEBUG, vpDEBUG_TRACE, vpERROR_TRACE, and vpRobotException::wrongStateError.

void vpRobotBiclops::stopMotion ( void  )

Halt all the axis.

Definition at line 598 of file vpRobotBiclops.cpp.

References vpBiclops::ndof.

Referenced by setRobotState().

void * vpRobotBiclops::vpRobotBiclopsSpeedControlLoop ( void *  arg)
static

Member Data Documentation

vpHomogeneousMatrix vpBiclops::cMe_
protectedinherited
const double vpRobotBiclops::defaultPositioningVelocity = 10.0
static

No copy constructor allowed.

Definition at line 125 of file vpRobotBiclops.h.

DenavitHartenbergModel vpBiclops::dh_model_
protectedinherited
vpMatrix vpRobot::eJe
protectedinherited
int vpRobot::eJeAvailable
protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 106 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

vpMatrix vpRobot::fJe
protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 108 of file vpRobot.h.

Referenced by vpRobot::operator=().

int vpRobot::fJeAvailable
protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 110 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

const float vpBiclops::h = 0.048f
staticinherited

Definition at line 129 of file vpBiclops.h.

Referenced by vpBiclops::set_cMe().

const double vpRobot::maxRotationVelocityDefault = 0.7
staticprotectedinherited

Definition at line 99 of file vpRobot.h.

double vpRobot::maxTranslationVelocity
protectedinherited
const double vpRobot::maxTranslationVelocityDefault = 0.2
staticprotectedinherited

Definition at line 97 of file vpRobot.h.

const unsigned int vpBiclops::ndof = 2
staticinherited
const float vpBiclops::panJointLimit = (float)(M_PI)
staticinherited

Pan range (in rad): from -panJointLimit to + panJointLimit

Definition at line 131 of file vpBiclops.h.

Referenced by vpRobotBiclopsSpeedControlLoop().

const float vpBiclops::speedLimit = (float)(M_PI / 3.0)
staticinherited

Maximum speed (in rad/s) to perform a displacement

Definition at line 133 of file vpBiclops.h.

Referenced by setVelocity().

const float vpBiclops::tiltJointLimit = (float)(M_PI / 4.5)
staticinherited

Tilt range (in rad): from -tiltJointLimit to + tiltJointLimit

Definition at line 132 of file vpBiclops.h.

Referenced by vpRobotBiclopsSpeedControlLoop().