vpRobotSimulator Class Reference

#include <vpRobotSimulator.h>

Inheritance diagram for vpRobotSimulator:

Public Types
enum	vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }
enum	vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, CAMERA_FRAME, MIXT_FRAME }

Public Member Functions
	vpRobotSimulator ()
virtual	~vpRobotSimulator ()
double	getSamplingTime () const
virtual void	setSamplingTime (const double &delta_t)
virtual void	get_eJe (vpMatrix &_eJe)=0
virtual void	get_fJe (vpMatrix &_fJe)=0
virtual void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)=0
double	getMaxTranslationVelocity (void) const
double	getMaxRotationVelocity (void) const
virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)=0
vpColVector	getPosition (const vpRobot::vpControlFrameType frame)
virtual vpRobotStateType	getRobotState (void) const
virtual void	init ()=0
void	setMaxRotationVelocity (const double maxVr)
void	setMaxTranslationVelocity (const double maxVt)
virtual void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)
virtual void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
void	setVerbose (bool verbose)

Static Public Member Functions
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

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

Protected Attributes
double	delta_t_
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 aims to be a basis used to create all the robot simulators.

,

Definition at line 65 of file vpRobotSimulator.h.

Member Enumeration Documentation

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint space.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 78 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 66 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobotSimulator::vpRobotSimulator

(

)

Basic constructor that sets the sampling time by default to 40ms.

Definition at line 49 of file vpRobotSimulator.cpp.

virtual vpRobotSimulator::~vpRobotSimulator ( )

inlinevirtual

Basic destructor

Definition at line 75 of file vpRobotSimulator.h.

Member Function Documentation

virtual void vpRobot::get_eJe ( vpMatrix &  _eJe )

pure virtualinherited

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

Implemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpSimulatorPioneerPan, vpSimulatorPioneer, vpSimulatorCamera, vpRobotCamera, vpRobotPtu46, vpRobotPioneer, and vpRobotTemplate.

virtual void vpRobot::get_fJe ( vpMatrix &  _fJe )

pure virtualinherited

Get the robot Jacobian expressed in the robot reference (or world) frame.

Implemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

virtual void vpRobot::getDisplacement ( const vpRobot::vpControlFrameType  frame, vpColVector &  q  )

pure virtualinherited

Get a displacement (frame as to ve specified) between two successive position control.

Implemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

double vpRobot::getMaxRotationVelocity ( void  ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns

Maximum rotation velocity expressed in rad/s.

Definition at line 279 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

double vpRobot::getMaxTranslationVelocity ( void  ) const

inherited

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

Returns

Maximum translation velocity expressed in m/s.

Definition at line 254 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

virtual void vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame, vpColVector &  q  )

pure virtualinherited

Get the robot position (frame has to be specified).

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpSimulatorPioneerPan, vpSimulatorPioneer, vpSimulatorCamera, vpRobotCamera, vpRobotPtu46, and vpRobotTemplate.

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

inherited

Return the current robot position in the specified frame.

Definition at line 222 of file vpRobot.cpp.

vpControlFrameType vpRobot::getRobotFrame ( void  ) const

inlineprotectedinherited

Definition at line 162 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

virtual vpRobotStateType vpRobot::getRobotState ( void  ) const

inlinevirtualinherited

Definition at line 140 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpRobotPtu46::setPosition(), vpRobotBiclops::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().

double vpRobotSimulator::getSamplingTime ( ) const

inline

Return the sampling time.

Returns

Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Examples:

tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, and tutorial-simu-pioneer-continuous-gain-constant.cpp.

Definition at line 83 of file vpRobotSimulator.h.

Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

virtual void vpRobot::init ( )

pure virtualinherited

Implemented in vpRobotViper650, vpRobotViper850, vpRobotWireFrameSimulator, vpRobotAfma6, vpSimulatorViper850, vpSimulatorAfma6, vpRobotAfma4, vpRobotBiclops, vpRobotPtu46, vpRobotPioneer, and vpRobotTemplate.

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 <visp/vpRobot.h>

int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  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 167 of file vpRobot.cpp.

References vpException::dimensionError, and vpColVector::size().

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

void vpRobot::setMaxRotationVelocity ( const double  w_max )

inherited

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

Parameters

w_max

: Maximum rotation velocity expressed in rad/s.

Examples:

servoMomentPoints.cpp, servoSimu4Points.cpp, and servoSimuSphere.cpp.

Definition at line 266 of file vpRobot.cpp.

Referenced by vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

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, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 242 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

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

pure virtualinherited

Set a displacement (frame has to be specified) in position control.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType  newFrame )

protectedinherited

Definition at line 212 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

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

virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, and vpRobotPtu46.

Examples:

moveBiclops.cpp, photometricVisualServoing.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 205 of file vpRobot.cpp.

Referenced by vpRobotCamera::setPosition(), vpSimulatorCamera::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

virtual void vpRobotSimulator::setSamplingTime ( const double &  delta_t )

inlinevirtual

Set the sampling time.

Parameters

delta_t

: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Reimplemented in vpRobotWireFrameSimulator.

Examples:

manServo4PointsDisplay.cpp, manServoMomentsSimple.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, photometricVisualServoing.cpp, servoMomentImage.cpp, servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 95 of file vpRobotSimulator.h.

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

pure virtualinherited

Set the velocity (frame has to be specified) that will be applied to the velocity controller.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, vpSimulatorPioneerPan, vpRobotPioneer, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, and vpRobotTemplate.

void vpRobot::setVerbose ( bool  verbose )

inlineinherited

Examples:

tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 158 of file vpRobot.h.

Referenced by vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

Member Data Documentation

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 111 of file vpRobot.h.

Referenced by vpRobot::operator=().

double vpRobotSimulator::delta_t_

protected

Definition at line 68 of file vpRobotSimulator.h.

Referenced by vpRobotCamera::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 103 of file vpRobot.h.

Referenced by vpRobotCamera::get_eJe(), vpSimulatorCamera::get_eJe(), vpRobot::operator=(), and vpRobotAfma4::setVelocity().

int vpRobot::eJeAvailable

protectedinherited

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

Definition at line 105 of file vpRobot.h.

Referenced by vpRobot::operator=().

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 107 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 109 of file vpRobot.h.

Referenced by vpRobot::operator=().

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 98 of file vpRobot.h.

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 95 of file vpRobot.h.

Referenced by vpRobot::operator=().

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 96 of file vpRobot.h.

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 101 of file vpRobot.h.

Referenced by vpRobot::operator=().

double* vpRobot::qmax

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

double* vpRobot::qmin

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

bool vpRobot::verbose_

protectedinherited

Definition at line 115 of file vpRobot.h.

Referenced by vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpRobot::operator=(), vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().