vpRobotAfma6.h

/****************************************************************************
 *
 * $Id: vpRobotAfma6.h 4317 2013-07-17 09:40:17Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Interface for the Irisa's Afma6 robot controlled by an Adept MotionBlox.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpRobotAfma6_h
#define vpRobotAfma6_h

#include <visp/vpConfig.h>

#ifdef VISP_HAVE_AFMA6

#include <iostream>
#include <stdio.h>

#include <visp/vpRobot.h>
#include <visp/vpColVector.h>
#include <visp/vpPoseVector.h>
#include <visp/vpDebug.h>
#include <visp/vpAfma6.h>

// low level controller api
extern "C" {
#  include "irisa_Afma6.h"
#  include "trycatch.h"
}


class VISP_EXPORT vpRobotAfma6
  :
  public vpAfma6,
  public vpRobot
{

private: /* Not allowed functions. */

  vpRobotAfma6 (const vpRobotAfma6 & robot);

private: /* Attributs prives. */

  static bool robotAlreadyCreated;

  double positioningVelocity;

  // Variables used to compute the measured velocities (see getVelocity() )
  vpColVector q_prev_getvel;
  vpHomogeneousMatrix fMc_prev_getvel;
  double time_prev_getvel;
  bool first_time_getvel;

  // Variables used to compute the measured displacement (see
  // getDisplacement() )
  vpColVector q_prev_getdis;
  bool first_time_getdis;
  vpHomogeneousMatrix fMc_prev_getdis;


public:  /* Constantes */

  /* Vitesse maximale par default lors du positionnement du robot.
   * C'est la valeur a la construction de l'attribut prive \a
   * positioningVelocity. Cette valeur peut etre changee par la fonction
   * #setPositioningVelocity.
   */
  static const double defaultPositioningVelocity; // = 20.0;

public:  /* Methode publiques */

  vpRobotAfma6 (bool verbose=true);
  virtual ~vpRobotAfma6 (void);

  bool checkJointLimits(vpColVector& jointsStatus);

  void closeGripper() ;

  void getDisplacement(vpRobot::vpControlFrameType frame,
                       vpColVector &displacement);

  void getPosition (const vpRobot::vpControlFrameType frame,
                    vpColVector &position);
  void getPosition (const vpRobot::vpControlFrameType frame,
                    vpColVector &position, double &timestamp);
  void getPosition (const vpRobot::vpControlFrameType frame,
                    vpPoseVector &position);
  void getPosition (const vpRobot::vpControlFrameType frame,
                    vpPoseVector &position, double &timestamp);

  double getPositioningVelocity (void);
  bool getPowerState();
  double getTime() const;

  void getVelocity (const vpRobot::vpControlFrameType frame,
                    vpColVector & velocity);
  void getVelocity (const vpRobot::vpControlFrameType frame,
                    vpColVector & velocity, double &timestamp);

  vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
  vpColVector getVelocity (const vpRobot::vpControlFrameType frame, double &timestamp);

  void get_cMe(vpHomogeneousMatrix &_cMe) ;
  void get_cVe(vpVelocityTwistMatrix &_cVe) ;
  void get_eJe(vpMatrix &_eJe)  ;
  void get_fJe(vpMatrix &_fJe)  ;

  void init (void);
  void init (vpAfma6::vpAfma6ToolType tool,
             vpCameraParameters::vpCameraParametersProjType
             projModel = vpCameraParameters::perspectiveProjWithoutDistortion);

  void move(const char *filename) ;
  void move(const char *filename, const double velocity) ;

  void openGripper() ;

  void powerOn() ;
  void powerOff() ;

  static bool readPosFile(const char *filename, vpColVector &q)  ;
  static bool savePosFile(const char *filename, const vpColVector &q)  ;

  /* --- POSITIONNEMENT --------------------------------------------------- */
  void setPosition (const vpRobot::vpControlFrameType frame,
                    const vpPoseVector & pose );
  void setPosition(const vpRobot::vpControlFrameType frame,
                   const vpColVector &position) ;
  void setPosition (const vpRobot::vpControlFrameType frame,
                    const double pos1, const double pos2, const double pos3,
                    const double pos4, const double pos5, const double pos6) ;
  void setPosition(const char *filename) ;
  void setPositioningVelocity (const double velocity);

  /* --- ETAT ------------------------------------------------------------- */

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


  /* --- VITESSE ---------------------------------------------------------- */

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

  void stopMotion() ;

private:
  void getArticularDisplacement(vpColVector &displacement);
  void getCameraDisplacement(vpColVector &displacement);
};





/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */

#endif
#endif /* #ifndef vpRobotAfma6_h */