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

#include <visp3/robot/vpRobotFranka.h>

+ Inheritance diagram for vpRobotFranka:

Public Types

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

 vpRobotFranka ()
 
 vpRobotFranka (const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)
 
virtual ~vpRobotFranka ()
 
void connect (const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)
 
vpHomogeneousMatrix get_fMe (const vpColVector &q)
 
vpHomogeneousMatrix get_fMc (const vpColVector &q)
 
vpHomogeneousMatrix get_eMc () const
 
void get_eJe (vpMatrix &eJe)
 
void get_fJe (vpMatrix &fJe)
 
franka::Robot * getHandler ()
 
vpColVector getJointMin () const
 
vpColVector getJointMax () const
 
void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &position)
 
void getPosition (const vpRobot::vpControlFrameType frame, vpPoseVector &pose)
 
void set_eMc (const vpHomogeneousMatrix &eMc)
 
void setLogFolder (const std::string &folder)
 
void setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &position)
 
void setPositioningVelocity (const double velocity)
 
vpRobot::vpRobotStateType setRobotState (vpRobot::vpRobotStateType newState)
 
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
 
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 Public Member Functions inherited from vpRobot
static vpColVector saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
 

Protected Member Functions

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

Protected Attributes

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

This class is a wrapper over the libfranka component part of the Franka Control Interface (FCI).

Before using vpRobotFranka follow the installation instructions to install libfranka. We suggest to build libfranka from source if you are not using ROS.

Moreover, you need also to setup a real-time kernel following these instructions.

Up to now, this class provides the following capabilities to:

What is not implemented is:

  • move to a given cartesian end-effector position
  • gripper controller
  • force/torque feadback and control

Known issues:

  • sometimes the joint to joint trajectory generator provided by Franka complains about discontinuities.

We provide also the getHandler() function that allows to acces to the robot handler and call the native libfranka API fonctionalities:

vpRobotFranka robot("192.168.1.1");
franka::Robot *handler = robot.getHandler();
// Get end-effector cartesian position
std::array<double, 16> pose = handler->readOnce().O_T_EE;
Examples:
servoFrankaPBVS.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaGetPose.cpp, testFrankaJointPosition.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, and tutorial-franka-acquire-calib-data.cpp.

Definition at line 222 of file vpRobotFranka.h.

Member Enumeration Documentation

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

vpRobotFranka::vpRobotFranka ( )

Default constructor.

Definition at line 55 of file vpRobotFranka.cpp.

vpRobotFranka::vpRobotFranka ( const std::string &  franka_address,
franka::RealtimeConfig  realtime_config = franka::RealtimeConfig::kEnforce 
)

Establishes a connection with the robot.

Parameters
[in]franka_addressIP/hostname of the robot.
[in]realtime_configIf set to kEnforce, an exception will be thrown if realtime priority cannot be set when required. Setting realtime_config to kIgnore disables this behavior.

Definition at line 69 of file vpRobotFranka.cpp.

References connect(), and vpRobot::nDof.

vpRobotFranka::~vpRobotFranka ( )
virtual

Destructor.

Definition at line 96 of file vpRobotFranka.cpp.

References setRobotState(), and vpRobot::STATE_STOP.

Member Function Documentation

void vpRobotFranka::connect ( const std::string &  franka_address,
franka::RealtimeConfig  realtime_config = franka::RealtimeConfig::kEnforce 
)

Establishes a connection with the robot and set default behavior.

Parameters
[in]franka_addressIP/hostname of the robot.
[in]realtime_configIf set to kEnforce, an exception will be thrown if realtime priority cannot be set when required. Setting realtime_config to kIgnore disables this behavior.
Examples:
servoFrankaPBVS.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaGetPose.cpp, testFrankaJointPosition.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, and tutorial-franka-acquire-calib-data.cpp.

Definition at line 110 of file vpRobotFranka.cpp.

References vpException::fatalError.

Referenced by vpRobotFranka().

void vpRobotFranka::get_eJe ( vpMatrix eJe)
virtual

Gets the Jacobian represented as a 6x7 matrix in row-major format and computed from the robot current joint position.

Parameters
[out]eJe: Body Jacobian expressed in the end-effector frame.

Implements vpRobot.

Examples:
testFrankaCartVelocity-2.cpp.

Definition at line 299 of file vpRobotFranka.cpp.

References vpException::fatalError, and vpArray2D< Type >::resize().

vpHomogeneousMatrix vpRobotFranka::get_eMc ( ) const

Return the $ ^{e}{\bf M}_c$ homogeneous transformation that gives the position of the camera frame (or in general of any tool frame) in the robot end-effector frame.

By default, this transformation is set to identity, meaning that the camera (or tool) frame is located on the end-effector.

To change the position of the camera (or tool) frame , use set_eMc().

Definition at line 647 of file vpRobotFranka.cpp.

void vpRobotFranka::get_fJe ( vpMatrix fJe)
virtual

Gets the Jacobian relative to the base frame represented as a 6x7 matrix in row-major format and computed from the robot current joint position.

Parameters
[out]fJe: Zero Jacobian expressed in the base frame.

Implements vpRobot.

Definition at line 325 of file vpRobotFranka.cpp.

References vpException::fatalError, and vpArray2D< Type >::resize().

vpHomogeneousMatrix vpRobotFranka::get_fMc ( const vpColVector q)

Given the joint position of the robot, computes the forward kinematics (direct geometric model) as an homogeneous matrix ${^f}{\bf M}_c$ that gives the position of the camera frame (or in general of any tool attached to the robot) in the robot base frame.

By default, the transformation $^{e}{\bf M}_c$ that corresponds to the transformation between the end-effector and the camera (or tool) frame is set to identity, meaning that the camera (or tool) frame is located on the end-effector.

To change the position of the camera (or tool) frame , use set_eMc().

Parameters
[in]q: Joint position as a 7-dim vector.
Returns
Position of the camera frame (or tool frame) in the robot base frame.

Definition at line 248 of file vpRobotFranka.cpp.

References get_fMe().

Referenced by getPosition().

vpHomogeneousMatrix vpRobotFranka::get_fMe ( const vpColVector q)

Given the joint position of the robot, computes the forward kinematics (direct geometric model) as an homogeneous matrix ${^f}{\bf M}_e$ that gives the position of the end-effector in the robot base frame.

Parameters
[in]q: Joint position as a 7-dim vector.
Returns
Position of the end-effector in the robot base frame.

Definition at line 206 of file vpRobotFranka.cpp.

References vpException::fatalError, vpRobot::nDof, and vpArray2D< Type >::size().

Referenced by get_fMc(), and getPosition().

franka::Robot* vpRobotFranka::getHandler ( )
inline

Get robot handler to access native libfranka functions.

Returns
Robot handler if it exists, an exception otherwise.
Examples:
testFrankaGetPose.cpp.

Definition at line 279 of file vpRobotFranka.h.

References vpException::fatalError, vpRobot::getPosition(), vpRobot::setPosition(), vpRobot::setRobotState(), and vpRobot::setVelocity().

vpColVector vpRobotFranka::getJointMax ( ) const

Gets maximum joint values.

Returns
A 7-dimension vector that contains the maximum joint values for the 7 dof. All the values are expressed in radians.
Examples:
testFrankaJointVelocityLimits.cpp.

Definition at line 628 of file vpRobotFranka.cpp.

vpColVector vpRobotFranka::getJointMin ( ) const

Gets minimal joint values.

Returns
A 7-dimension vector that contains the minimal joint values for the 7 dof. All the values are expressed in radians.
Examples:
testFrankaJointVelocityLimits.cpp.

Definition at line 615 of file vpRobotFranka.cpp.

double vpRobot::getMaxTranslationVelocity ( void  ) const
inherited
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().

void vpRobotFranka::getPosition ( const vpRobot::vpControlFrameType  frame,
vpColVector position 
)
virtual

Get robot position.

Parameters
[in]frame: Type of position to retrieve. Admissible values are:
[out]position: Robot position. When joint position is asked this vector is 7-dim. Otherwise for a cartesian position this vector is 6-dim. Its content is similar to a vpPoseVector, with first the 3 tranlations in meter and then the 3 orientations in radian as a $\theta {\bf u}$ vector (see vpThetaUVector).

If you want to get a cartesian position, use rather getPosition(const vpRobot::vpControlFrameType, vpPoseVector &)

Implements vpRobot.

Examples:
testFrankaGetPose.cpp, testFrankaJointVelocityLimits.cpp, and tutorial-franka-acquire-calib-data.cpp.

Definition at line 159 of file vpRobotFranka.cpp.

References vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, get_fMc(), get_fMe(), vpRobot::JOINT_STATE, vpRobot::nDof, vpColVector::resize(), and vpRobot::TOOL_FRAME.

void vpRobotFranka::getPosition ( const vpRobot::vpControlFrameType  frame,
vpPoseVector pose 
)

Get robot cartesian position.

Parameters
[in]frame: Type of cartesian position to retrieve. Admissible values are:
[out]pose: Robot cartesian position. This vector is 6-dim. Its content is similar to a vpPoseVector, with first the 3 tranlations in meter and then the 3 orientations in radian as a $\theta {\bf u}$ vector (see vpThetaUVector).

Definition at line 264 of file vpRobotFranka.cpp.

References vpPoseVector::buildFrom(), vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, and vpRobot::TOOL_FRAME.

vpControlFrameType vpRobot::getRobotFrame ( void  ) const
inlineprotectedinherited
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(), setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

void vpRobotFranka::set_eMc ( const vpHomogeneousMatrix eMc)

Set the $ ^{e}{\bf M}_c$ homogeneous transformation that gives the position of the camera frame (or in general of any tool frame) in the robot end-effector frame.

By default, this transformation is set to identity, meaning that the camera (or tool) frame is located on the end-effector.

This transformation has to be set before controlling the robot cartesian velocity in the camera frame or getting the position of the robot in the camera frame.

Parameters
[in]eMc: End-effector to camera frame transformation.
Examples:
servoFrankaPBVS.cpp, and testFrankaCartVelocity-3.cpp.

Definition at line 664 of file vpRobotFranka.cpp.

void vpRobotFranka::setLogFolder ( const std::string &  folder)

Set the folder or directory used to record logs at 1Kz when setVelocity() is used. By default the log folder is empty.

When the log folder is empty, logs are not created.

Parameters
[in]folder: A path to a folder that will contain a basket of log files. If the folder doesn't exist it will be created recursively.
Examples:
testFrankaJointPosition.cpp, and testFrankaJointVelocity.cpp.

Definition at line 354 of file vpRobotFranka.cpp.

References vpIoTools::checkDirectory(), vpException::fatalError, and vpIoTools::makeDirectory().

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 vpRobotFranka::setPosition ( const vpRobot::vpControlFrameType  frame,
const vpColVector position 
)
virtual

Set robot position. This function is blocking; it returns when the desired position is reached.

Parameters
[in]frame: The only possible value is vpRobot::JOINT_STATE. Other values are not implemented.
[in]position: This is a 7-dim vector that corresponds to the robot joint positions expressed in rad.

Implements vpRobot.

Examples:
testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointPosition.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, and testFrankaJointVelocityLimits.cpp.

Definition at line 379 of file vpRobotFranka.cpp.

References vpException::fatalError, vpException::functionNotImplementedError, vpRobot::getRobotState(), vpRobot::JOINT_STATE, setRobotState(), and vpRobot::STATE_POSITION_CONTROL.

void vpRobotFranka::setPositioningVelocity ( const double  velocity)

Set the maximal velocity percentage to use for a position control.

Parameters
[in]velocity: Percentage of the maximal velocity. Values should be in ]0:100].
Examples:
testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, and testFrankaCartVelocity.cpp.

Definition at line 415 of file vpRobotFranka.cpp.

void vpRobotFranka::setVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector vel 
)
virtual

Apply a velocity to the robot.

Parameters
[in]frame: Control frame in which the velocity is expressed. Velocities could be expressed as joint velocities, cartesian velocity twist expressed in the robot reference frame, in the end-effector frame or in the camera or tool frame.
[in]vel: Velocity vector. Translation velocities are expressed in m/s while rotation velocities in rad/s. The size of this vector is always 6 for a cartsian velocity skew, and 7 for joint velocities.
  • When joint velocities have to be applied, frame should be set to vpRobot::JOINT_STATE, and $ vel = [\dot{q}_1, \dot{q}_2, \dot{q}_3, \dot{q}_4, \dot{q}_5, \dot{q}_6]^t, \dot{q}_7]^T $ correspond to joint velocities in rad/s.
  • When cartesian velocities have to be applied in the reference frame (or in a frame also called fixed frame in ViSP), frame should be set to vpRobot::REFERENCE_FRAME, $ vel = [^{f} v_x, ^{f} v_y, ^{f} v_z, ^{f} \omega_x, ^{f} \omega_y, ^{f} \omega_z]^T $ is a velocity twist vector corresponding to the velocity of the origin of the camera frame (or tool frame) expressed in the reference frame, with translations velocities $ ^{f} v_x, ^{f} v_y, ^{f} v_z $ in m/s and rotation velocities $ ^{f}\omega_x, ^{f} \omega_y, ^{f} \omega_z $ in rad/s.
  • When cartesian velocities have to be applied in the end-effector frame, frame should be set to vpRobot::END_EFFECTOR_FRAME, $ vel = [^{e} v_x, ^{e} v_y, ^{e} v_z, ^{e} \omega_x, ^{e} \omega_y, ^{e} \omega_z]^T $ is a velocity twist vector corresponding to the velocity of the origin of the end-effector frame expressed in the end-effector frame, with translations velocities $ ^{e} v_x, ^{e} v_y, ^{e} v_z $ in m/s and rotation velocities $ ^{e}\omega_x, ^{e} \omega_y, ^{e} \omega_z $ in rad/s.
  • When cartesian velocities have to be applied in the camera frame or more generally in a tool frame, frame should be set to vpRobot::CAMERA_FRAME or vpRobot::TOOL_FRAME, $ vel = [^{c} v_x, ^{c} v_y, ^{c} v_z, ^{c} \omega_x, ^{c} \omega_y, ^{c} \omega_z]^T $ is a velocity twist vector corresponding to the velocity of the origin of the camera (or tool frame) frame expressed in the camera (or tool frame), with translations velocities $ ^{c} v_x, ^{c} v_y, ^{c} v_z $ in m/s and rotation velocities $ ^{c}\omega_x, ^{c} \omega_y, ^{c} \omega_z $ in rad/s.
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().
Warning
Velocities could be saturated if one of them exceed the maximal autorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity().

Implements vpRobot.

Examples:
servoFrankaPBVS.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, and testFrankaJointVelocityLimits.cpp.

Definition at line 525 of file vpRobotFranka.cpp.

References vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpRobot::nDof, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, vpRobot::TOOL_FRAME, and vpRobotException::wrongStateError.

Member Data Documentation

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 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.