#include <vpRobotPtu46.h>

Inheritance diagram for vpRobotPtu46:

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
	vpRobotPtu46 (const char *device="/dev/ttyS0")

	vpRobotPtu46 (vpRobotPtu46 *pub)

virtual	~vpRobotPtu46 (void)

void	init (void)

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

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

void	setPositioningVelocity (const double velocity)

double	getPositioningVelocity (void)

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

void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &q_dot)

vpColVector	getVelocity (const vpRobot::vpControlFrameType frame)

void	get_cMe (vpHomogeneousMatrix &_cMe)

void	get_cVe (vpVelocityTwistMatrix &_cVe)

void	get_eJe (vpMatrix &_eJe)

void	get_fJe (vpMatrix &_fJe)

void	stopMotion ()

void	getCameraDisplacement (vpColVector &d)

void	getArticularDisplacement (vpColVector &d)

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

bool	readPositionFile (const char *filename, vpColVector &q)

void	computeMGD (const vpColVector &q, vpHomogeneousMatrix &fMc)

vpHomogeneousMatrix	computeMGD (const vpColVector &q)

void	computeMGD (const vpColVector &q, vpPoseVector &r)

void	get_eJe (const vpColVector &q, vpMatrix &eJe)

void	get_fJe (const vpColVector &q, vpMatrix &fJe)

double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

vpControlFrameType	getRobotFrame (void)

virtual vpRobotStateType	getRobotState (void)

void	setMaxRotationVelocity (const double maxVr)

void	setMaxTranslationVelocity (const double maxVt)

vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

Static Public Member Functions
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	L = 0.0765f

static const float	h = 0.068f

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

Interface for the Directed Perception ptu-46 pan, tilt head .

See http://www.DPerception.com for more details.

This class provide a position and a speed control interface for the ptu-46 head.

Examples:: movePtu46.cpp, and servoPtu46Point2DArtVelocity.cpp.

Definition at line 88 of file vpRobotPtu46.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 83 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

vpRobotPtu46::vpRobotPtu46 ( const char * device = "/dev/ttyS0" )

Default constructor.

Initialize the ptu-46 pan, tilt head by opening the serial port.

See also: init()

Definition at line 75 of file vpRobotPtu46.cpp.

References defaultPositioningVelocity, init(), setRobotState(), vpRobot::STATE_STOP, vpDEBUG_TRACE, and vpERROR_TRACE.

vpRobotPtu46::vpRobotPtu46 ( vpRobotPtu46 * pub )

vpRobotPtu46::~vpRobotPtu46 ( void )

virtual

Destructor. Close the serial connection with the head.

Definition at line 119 of file vpRobotPtu46.cpp.

References setRobotState(), vpRobot::STATE_STOP, and vpERROR_TRACE.

Member Function Documentation

void vpPtu46::computeMGD	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc
	)

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 83 of file vpPtu46.cpp.

References vpException::dimensionError, vpMatrix::getRows(), vpPtu46::h, vpPtu46::L, vpCDEBUG, and vpERROR_TRACE.

Referenced by vpPtu46::computeMGD().

vpHomogeneousMatrix vpPtu46::computeMGD ( const vpColVector & q )

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. Describes the transformation between the robot reference frame (called fixed) and the camera frame.

Definition at line 134 of file vpPtu46.cpp.

References vpPtu46::computeMGD().

void vpPtu46::computeMGD	(	const vpColVector &	q,
		vpPoseVector &	r
	)

inherited

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

Parameters

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

Definition at line 153 of file vpPtu46.cpp.

References vpPoseVector::buildFrom(), vpPtu46::computeMGD(), and vpHomogeneousMatrix::inverse().

void vpRobotPtu46::get_cMe ( vpHomogeneousMatrix & cMe )

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 256 of file vpRobotPtu46.cpp.

References vpPtu46::get_cMe().

void vpRobotPtu46::get_cVe ( vpVelocityTwistMatrix & cVe )

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.

Examples:: servoPtu46Point2DArtVelocity.cpp.

Definition at line 238 of file vpRobotPtu46.cpp.

References vpVelocityTwistMatrix::buildFrom(), and vpPtu46::get_cMe().

void vpPtu46::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe
	)

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 282 of file vpPtu46.cpp.

References vpException::dimensionError, vpMatrix::getRows(), vpMatrix::resize(), and vpERROR_TRACE.

Referenced by get_eJe().

void vpRobotPtu46::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.

Examples:: servoPtu46Point2DArtVelocity.cpp.

Definition at line 272 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpPtu46::get_eJe(), getPosition(), and vpERROR_TRACE.

void vpPtu46::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe
	)

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 314 of file vpPtu46.cpp.

References vpException::dimensionError, vpMatrix::getRows(), vpMatrix::resize(), and vpERROR_TRACE.

Referenced by get_fJe().

void vpRobotPtu46::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 296 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpPtu46::get_fJe(), getPosition(), and vpERROR_TRACE.

void vpRobotPtu46::getArticularDisplacement ( vpColVector & d )

virtual

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

Parameters

d	The measured articular displacement. The dimension of d is 2 (the number of axis of the robot) with respectively d[0] (pan displacement), d[1] (tilt displacement)

See also: getDisplacement(), getCameraDisplacement()

Implements vpRobot.

Definition at line 854 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, and getDisplacement().

void vpRobotPtu46::getCameraDisplacement ( vpColVector & v )

virtual

Get the robot displacement expressed in the camera frame since the last call of this method.

Parameters

v	The measured displacement in camera frame. The dimension of v is 6 (tx, ty, ty, rx, ry, rz). Translations are expressed in meters, rotations in radians.

See also: getDisplacement(), getArticularDisplacement()

Implements vpRobot.

Definition at line 838 of file vpRobotPtu46.cpp.

References vpRobot::CAMERA_FRAME, and getDisplacement().

void vpRobotPtu46::getDisplacement	(	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

frame	The frame in which the measured displacement is expressed.
d	The 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, rx, ry, rz). Translations are expressed in meters, rotations in radians.

Exceptions

vpRobotException::wrongStateError If a not supported frame type is given.

See also: getArticularDisplacement(), getCameraDisplacement()

Implements vpRobot.

Definition at line 881 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::MIXT_FRAME, vpPtu46::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpERROR_TRACE, and vpRobotException::wrongStateError.

Referenced by getArticularDisplacement(), and getCameraDisplacement().

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 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

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 208 of file vpRobot.cpp.

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

void vpRobotPtu46::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q
	)

virtual

Return the position of each axis.

Parameters

frame	: Control frame. This head can only be controlled in articular.
q	: The position of the axis.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Implements vpRobot.

Examples:: movePtu46.cpp.

Definition at line 483 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpPtu46::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by get_eJe(), and get_fJe().

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

inherited

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.

double vpRobotPtu46::getPositioningVelocity ( void )

Get the velocity in % used for a position control.

Returns: Positionning velocity in [0, 100]

Definition at line 332 of file vpRobotPtu46.cpp.

vpControlFrameType vpRobot::getRobotFrame ( void )

inlineinherited

Definition at line 147 of file vpRobot.h.

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

virtual vpRobotStateType vpRobot::getRobotState ( void )

inlinevirtualinherited

Definition at line 148 of file vpRobot.h.

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

void vpRobotPtu46::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 685 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::MIXT_FRAME, vpPtu46::ndof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpERROR_TRACE, and vpRobotException::wrongStateError.

Referenced by getVelocity().

vpColVector vpRobotPtu46::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 751 of file vpRobotPtu46.cpp.

References getVelocity().

void vpRobotPtu46::init ( void )

virtual

Open the serial port.

Exceptions

vpRobotException::constructionError : If the device cannot be oppened.

Implements vpRobot.

Definition at line 151 of file vpRobotPtu46.cpp.

References vpRobotException::constructionError, vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by vpRobotPtu46().

bool vpRobotPtu46::readPositionFile	(	const char *	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 ptu-46 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 779 of file vpRobotPtu46.cpp.

References vpPtu46::ndof, vpMath::rad(), vpColVector::resize(), and vpERROR_TRACE.

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 <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 114 of file vpRobot.cpp.

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

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

void vpRobot::setMaxRotationVelocity ( const double maxVr )

inherited

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

Parameters

maxVr : Maximum rotation velocity expressed in rad/s.

Examples:: servoMomentPoints.cpp.

Definition at line 220 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

void vpRobot::setMaxTranslationVelocity ( const double maxVt )

inherited

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

Parameters

maxVt : Maximum translation velocity expressed in m/s.

Examples:: servoMomentPoints.cpp.

Definition at line 196 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

void vpRobotPtu46::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 head can only be controlled in articular.
q	: The position to set for each axis.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Implements vpRobot.

Examples:: movePtu46.cpp, and servoPtu46Point2DArtVelocity.cpp.

Definition at line 355 of file vpRobotPtu46.cpp.

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

Referenced by setPosition().

void vpRobotPtu46::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 head can only be controlled in articular.
q1	: The pan position to set.
q2	: The tilt position to set.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Definition at line 427 of file vpRobotPtu46.cpp.

References setPosition(), and vpERROR_TRACE.

void vpRobotPtu46::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 458 of file vpRobotPtu46.cpp.

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

void vpRobotPtu46::setPositioningVelocity ( const double velocity )

Set the velocity used for a position control.

Parameters

velocity : Velocity in % of the maximum velocity between [0,100].

Definition at line 321 of file vpRobotPtu46.cpp.

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

inherited

Definition at line 159 of file vpRobot.cpp.

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

vpRobot::vpRobotStateType vpRobotPtu46::setRobotState ( 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:: movePtu46.cpp, and servoPtu46Point2DArtVelocity.cpp.

Definition at line 173 of file vpRobotPtu46.cpp.

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

Referenced by setPosition(), stopMotion(), vpRobotPtu46(), and ~vpRobotPtu46().

void vpRobotPtu46::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	v
	)

virtual

Send a velocity on each axis.

Parameters

frame	: Control frame. This head can only be controlled in articular and camera frame. Be aware, the reference frame (vpRobot::REFERENCE_FRAME) and the mixt frame (vpRobot::MIXT_FRAME) are not implemented.
v	: The desired velocity of the axis. The size of this vector is always 2. Velocitoes are expressed in rad/s.

In camera frame, $v = [\omega_x, \omega_y]^t$ .
In articular, we control the 2 dof, $v = [\dot{q}_1, \dot{q}_2]^t$ 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::REFERENCE_FRAME, 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:: movePtu46.cpp, and servoPtu46Point2DArtVelocity.cpp.

Definition at line 560 of file vpRobotPtu46.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::getRobotState(), vpMatrix::getRows(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::STATE_VELOCITY_CONTROL, vpCDEBUG, vpDEBUG_TRACE, vpERROR_TRACE, and vpRobotException::wrongStateError.

void vpRobotPtu46::stopMotion ( void )

Halt all the axis.

Definition at line 220 of file vpRobotPtu46.cpp.

References setRobotState(), and vpRobot::STATE_STOP.

Member Data Documentation

const vpRobot::vpRobotStateType vpRobot::defaultEtatRobot = vpRobot::STATE_STOP

staticinherited

valeur utilisee par default pour l'etat du robot a la construction.

Definition at line 78 of file vpRobot.h.

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

staticinherited

Definition at line 97 of file vpRobot.h.

const double vpRobotPtu46::defaultPositioningVelocity = 10.0

static

Definition at line 110 of file vpRobotPtu46.h.

Referenced by vpRobotPtu46().

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 113 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpRobotCamera::get_eJe(), vpSimulatorAfma6::getVelocity(), vpSimulatorViper850::getVelocity(), vpRobotCamera::init(), vpSimulatorAfma6::setPosition(), and vpRobotAfma4::setVelocity().

int vpRobot::eJeAvailable

protectedinherited

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

Definition at line 115 of file vpRobot.h.

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 117 of file vpRobot.h.

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

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 119 of file vpRobot.h.

const float vpPtu46::h = 0.068f

staticinherited

Horizontal offset along the last joint, from last joint to camera frame.

Definition at line 90 of file vpPtu46.h.

Referenced by vpPtu46::computeMGD(), and vpPtu46::get_cMe().

const float vpPtu46::L = 0.0765f

staticinherited

Geometric model

Definition at line 89 of file vpPtu46.h.

Referenced by vpPtu46::computeMGD(), and vpPtu46::get_cMe().

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 107 of file vpRobot.h.

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 108 of file vpRobot.h.

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 105 of file vpRobot.h.

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 106 of file vpRobot.h.

const unsigned int vpPtu46::ndof = 2

staticinherited

Nombre d'articulations du robot. Number of dof

Definition at line 86 of file vpPtu46.h.

Referenced by getDisplacement(), getPosition(), getVelocity(), and readPositionFile().

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 111 of file vpRobot.h.

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