#include <vpRobot.h>

Inheritance diagram for vpRobot:

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
	vpRobot (void)

virtual	~vpRobot ()

virtual void	get_eJe (vpMatrix &_eJe)=0

virtual void	get_fJe (vpMatrix &_fJe)=0

virtual void	getArticularDisplacement (vpColVector &qdot)=0

virtual void	getCameraDisplacement (vpColVector &v)=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)

vpControlFrameType	getRobotFrame (void)

virtual vpRobotStateType	getRobotState (void)

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

vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

virtual void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0

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

Static Public Attributes
static const vpRobot::vpRobotStateType	defaultEtatRobot = vpRobot::STATE_STOP

static const vpRobot::vpControlFrameType	defaultFrameRobot = vpRobot::CAMERA_FRAME

Protected Attributes
double	maxTranslationVelocity

double	maxRotationVelocity

int	nDof

vpMatrix	eJe

int	eJeAvailable

vpMatrix	fJe

int	fJeAvailable

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2

static const double	maxRotationVelocityDefault = 0.7

Detailed Description

class that defines a generic virtual robot

Definition at line 60 of file vpRobot.h.

Member Enumeration Documentation

enum vpRobot::vpControlFrameType

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 83 of file vpRobot.h.

enum vpRobot::vpRobotStateType

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

vpRobot::vpRobot ( void )

Definition at line 54 of file vpRobot.cpp.

References STATE_STOP.

virtual vpRobot::~vpRobot ( )

inlinevirtual

Definition at line 123 of file vpRobot.h.

Member Function Documentation

virtual void vpRobot::get_eJe ( vpMatrix & _eJe )

pure virtual

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

Implemented in vpRobotViper850, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotSimulator, vpRobotBiclops, vpRobotPtu46, vpRobotPioneer, vpRobotCamera, and vpRobotTemplate.

virtual void vpRobot::get_fJe ( vpMatrix & _fJe )

pure virtual

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

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

virtual void vpRobot::getArticularDisplacement ( vpColVector & qdot )

pure virtual

Get a displacement expressed in the joint space between two successive position control.

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

virtual void vpRobot::getCameraDisplacement ( vpColVector & v )

pure virtual

Get a displacement expressed in the camera frame between two successive position control.

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

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

pure virtual

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

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

double vpRobot::getMaxRotationVelocity ( void ) const

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 233 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpRobotPioneer::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), and vpRobotViper850::setVelocity().

double vpRobot::getMaxTranslationVelocity ( void ) const

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 208 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotPioneer::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), and vpRobotViper850::setVelocity().

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

pure virtual

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

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

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

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

Recupere la position actuelle du robot. Recupere la position actuelle du robot et renvoie le resultat Le repere de travail dans lequel est exprime le resultat est celui donne par la variable repere. INPUT:

repere: repere de travail dans lequel est exprime le resultat. OUTPUT:
Position actuelle du robot.

Definition at line 176 of file vpRobot.cpp.

vpControlFrameType vpRobot::getRobotFrame ( void )

inline

Definition at line 147 of file vpRobot.h.

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

virtual vpRobotStateType vpRobot::getRobotState ( void )

inlinevirtual

Definition at line 148 of file vpRobot.h.

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

virtual void vpRobot::init ( )

pure virtual

Implemented in vpRobotSimulator, vpRobotViper850, vpSimulatorViper850, vpRobotAfma6, vpSimulatorAfma6, vpRobotAfma4, vpRobotBiclops, vpRobotPioneer, vpRobotPtu46, vpRobotCamera, and vpRobotTemplate.

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

static

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;
}