#include <vpRobotBiclopsController.h>

Public Types
enum	vpControllerStatusType { STOP, SPEED }

Public Member Functions
	vpRobotBiclopsController ()

virtual	~vpRobotBiclopsController ()

void	init (const char *configfile)

void	setPosition (const vpColVector &q, const double percentVelocity)

void	setVelocity (const vpColVector &q_dot)

vpColVector	getPosition ()

vpColVector	getActualPosition ()

vpColVector	getVelocity ()

vpColVector	getActualVelocity ()

PMDAxisControl *	getPanAxis ()

PMDAxisControl *	getTiltAxis ()

PMDAxisControl *	getVergeAxis ()

void	writeShm (shmType &shm)

shmType	readShm ()

bool	isStopRequested ()

void	stopRequest (bool stop)

Detailed Description

Interface to Biclops, pan, tilt, verge head for computer vision applications.

See http://www.traclabs.com/tracbiclops.htm for more details.

This class uses libraries libBiclops.so, libUtils.so and libPMD.so and includes Biclops.h and PMDUtils.h provided by Traclabs.

Definition at line 87 of file vpRobotBiclopsController.h.

Member Enumeration Documentation

enum vpRobotBiclopsController::vpControllerStatusType

Enumerator
STOP	Have to stop the robot.
SPEED	Can send the desired speed.

Definition at line 90 of file vpRobotBiclopsController.h.

Constructor & Destructor Documentation

vpRobotBiclopsController::vpRobotBiclopsController ( )

Default constructor.

Definition at line 70 of file vpRobotBiclopsController.cpp.

References vpBiclops::ndof, and STOP.

vpRobotBiclopsController::~vpRobotBiclopsController ( )

virtual

Destructor.

Definition at line 101 of file vpRobotBiclopsController.cpp.

Member Function Documentation

vpColVector vpRobotBiclopsController::getActualPosition ( )

Get the biclops actual articular position.

Returns: The axis actual articular position in radians.

Definition at line 386 of file vpRobotBiclopsController.cpp.

References vpBiclops::ndof.

Referenced by vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

vpColVector vpRobotBiclopsController::getActualVelocity ( )

Get the biclops actual articular velocity.

Returns: The axis actual articular velocity in rad/s.

Definition at line 430 of file vpRobotBiclopsController.cpp.

References vpBiclops::ndof.

Referenced by vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

PMDAxisControl* vpRobotBiclopsController::getPanAxis ( )

inline

Definition at line 117 of file vpRobotBiclopsController.h.

vpColVector vpRobotBiclopsController::getPosition ( )

Get the biclops articular position.

Returns: The axis articular position in radians.

Definition at line 360 of file vpRobotBiclopsController.cpp.

References vpBiclops::ndof, vpColVector::t(), vpCDEBUG, and vpDEBUG_TRACE.

Referenced by vpRobotBiclops::getPosition().

PMDAxisControl* vpRobotBiclopsController::getTiltAxis ( )

inline

Definition at line 118 of file vpRobotBiclopsController.h.

vpColVector vpRobotBiclopsController::getVelocity ( )

Get the biclops articular velocity.

Returns: The axis articular velocity in rad/s.

Definition at line 408 of file vpRobotBiclopsController.cpp.

References vpBiclops::ndof.

Referenced by vpRobotBiclops::getVelocity().

PMDAxisControl* vpRobotBiclopsController::getVergeAxis ( )

inline

Definition at line 119 of file vpRobotBiclopsController.h.

void vpRobotBiclopsController::init ( const char * configfile )

Initialize the biclops by homing all axis.

Parameters

configfile : Biclops configuration file.

Exceptions

vpRobotException::notInitializedError

If the biclops head connot be initialized. The initialization can failed,

if the head is not powered on,
if the head is not connected to your computer throw a serial cable,
if you try to open a bad serial port. Check you config file to verify which is the used serial port.

Definition at line 119 of file vpRobotBiclopsController.cpp.

References vpRobotException::constructionError, vpRobotException::notInitializedError, vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by vpRobotBiclops::init().

bool vpRobotBiclopsController::isStopRequested ( )

inline

Definition at line 122 of file vpRobotBiclopsController.h.

Referenced by vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

vpRobotBiclopsController::shmType vpRobotBiclopsController::readShm ( )

Get a copy of the shared memory.

Returns: A copy of the shared memory.

Definition at line 470 of file vpRobotBiclopsController.cpp.

References vpBiclops::ndof, and vpDEBUG_TRACE.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotBiclops::setVelocity(), and vpRobotBiclops::vpRobotBiclopsSpeedControlLoop().

void vpRobotBiclopsController::setPosition	(	const vpColVector &	q,
		const double	percentVelocity
	)

Set the biclops axis position. The motion of the axis is synchronized to end on the same time.

Warning: Wait the end of the positionning.

Parameters

q	: The position to set for each axis.
percentVelocity	: The velocity displacement to reach the new position in the range [0: 100.0]. 100 % corresponds to the maximal admissible speed. The maximal admissible speed is given by vpBiclops::speedLimit.

Definition at line 209 of file vpRobotBiclopsController.cpp.

References vpMatrix::getRows(), vpRobotException::lowLevelError, vpBiclops::ndof, vpBiclops::speedLimit, vpCDEBUG, vpDEBUG_TRACE, and vpERROR_TRACE.

Referenced by vpRobotBiclops::setPosition().

void vpRobotBiclopsController::setVelocity ( const vpColVector & q_dot )

Apply a velocity to each axis of the biclops robot.