#include <vpRobotTemplate.h>

Inheritance diagram for vpRobotTemplate:

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
void	init ()

	vpRobotTemplate ()

virtual	~vpRobotTemplate ()

void	get_eJe (vpMatrix &_eJe)

void	get_fJe (vpMatrix &_fJe)

void	sendCameraVelocity (const vpColVector &v)

void	sendArticularVelocity (const vpColVector &qdot)

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

void	getPosition (vpPoseVector &q)

void	getArticularPosition (vpColVector &q)

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

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

void	getCameraDisplacement (vpColVector &v)

void	getArticularDisplacement (vpColVector &qdot)

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

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)

virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

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 robot just to show which function you must implement

Definition at line 58 of file vpRobotTemplate.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

vpRobotTemplate::vpRobotTemplate ( )

constructor

Definition at line 60 of file vpRobotTemplate.cpp.

References init().

vpRobotTemplate::~vpRobotTemplate ( )

virtual

destructor

constructor

Definition at line 67 of file vpRobotTemplate.cpp.

Member Function Documentation

void vpRobotTemplate::get_eJe ( vpMatrix & _eJe )

virtual

get the robot Jacobian expressed in the end-effector frame

Implements vpRobot.

Definition at line 83 of file vpRobotTemplate.cpp.

void vpRobotTemplate::get_fJe ( vpMatrix & _fJe )

virtual

get the robot Jacobian expressed in the robot reference frame

Implements vpRobot.

Definition at line 90 of file vpRobotTemplate.cpp.

void vpRobotTemplate::getArticularDisplacement ( vpColVector & qdot )

virtual

get a displacement expressed in the articular frame

Implements vpRobot.

Definition at line 171 of file vpRobotTemplate.cpp.

void vpRobotTemplate::getArticularPosition ( vpColVector & q )

get a position expressed in the articular frame

Definition at line 145 of file vpRobotTemplate.cpp.

void vpRobotTemplate::getCameraDisplacement ( vpColVector & v )

virtual

get a displacement expressed in the camera frame

Implements vpRobot.

Definition at line 165 of file vpRobotTemplate.cpp.

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

virtual

get a displacement (frame as to be specified)

get a displacement (frame as to ve specified)

Implements vpRobot.

Definition at line 177 of file vpRobotTemplate.cpp.

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 vpRobotTemplate::getPosition ( vpPoseVector & q )

get a position expressed in the robot reference frame

Definition at line 139 of file vpRobotTemplate.cpp.

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

virtual

get a displacement (frame as to be specified)

get a displacement (frame as to ve specified)

Implements vpRobot.

Definition at line 151 of file vpRobotTemplate.cpp.

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.

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(), 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().

void vpRobotTemplate::init ( void )

virtual

basic initialization

Implements vpRobot.

Definition at line 53 of file vpRobotTemplate.cpp.

References vpTRACE.

Referenced by 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 114 of file vpRobot.cpp.

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

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

void vpRobotTemplate::sendArticularVelocity ( const vpColVector & qdot )

send to the controller a velocity expressed in the articular frame

Definition at line 118 of file vpRobotTemplate.cpp.

void vpRobotTemplate::sendCameraVelocity ( const vpColVector & v )

send to the controller a velocity expressed in the camera frame

Definition at line 106 of file vpRobotTemplate.cpp.

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

virtual

set a displacement (frame as to be specified)

set a displacement (frame as to ve specified)

Implements vpRobot.

Definition at line 158 of file vpRobotTemplate.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 vpRobot::setRobotState ( const vpRobot::vpRobotStateType newState )

virtualinherited

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

Examples:: moveBiclops.cpp, photometricVisualServoing.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, and servoSimuViper850FourPoints2DCamVelocity.cpp.

Definition at line 152 of file vpRobot.cpp.

Referenced by vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), and vpRobotViper850::setRobotState().

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

virtual

send to the controller a velocity (frame as to be specified)

send to the controller a velocity (frame as to ve specified)

Implements vpRobot.

Definition at line 124 of file vpRobotTemplate.cpp.

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.

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.

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.

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 111 of file vpRobot.h.

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation