42 #ifndef vpRobotViper850_h
43 #define vpRobotViper850_h
45 #include <visp/vpConfig.h>
47 #ifdef VISP_HAVE_VIPER850
52 #include <visp/vpRobot.h>
53 #include <visp/vpColVector.h>
54 #include <visp/vpDebug.h>
55 #include <visp/vpViper850.h>
59 # include "irisa_Viper850.h"
60 # include "trycatch.h"
316 static bool robotAlreadyCreated;
318 double positioningVelocity;
323 double time_prev_getvel;
324 bool first_time_getvel;
329 bool first_time_getdis;
339 void biasForceTorqueSensor();
343 void disableJoint6Limits();
344 void enableJoint6Limits();
367 double getPositioningVelocity (
void);
368 bool getPowerState();
378 double getTime()
const;
390 void move(
const char *filename) ;
397 static bool readPosFile(
const char *filename,
vpColVector &q) ;
398 static bool savePosFile(
const char *filename,
const vpColVector &q) ;
404 const double pos1,
const double pos2,
const double pos3,
405 const double pos4,
const double pos5,
const double pos6) ;
407 void setPositioningVelocity (
const double velocity);
419 void getArticularDisplacement(
vpColVector &displacement);
420 void getCameraDisplacement(
vpColVector &displacement);
Definition of the vpMatrix class.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
Perspective projection without distortion model.
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Control of Irisa's Viper S850 robot named Viper850.
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
class that defines a generic virtual robot
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
vpCameraParametersProjType
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpToolType
List of possible tools that can be attached to the robot end-effector.
virtual void get_fJe(vpMatrix &_fJe)=0
Get the robot Jacobian expressed in the robot reference (or world) frame.
Modelisation of the ADEPT Viper 850 robot.
Class that consider the particular case of twist transformation matrix that allows to transform a vel...
vpControlModeType getControlMode()
Class that provides a data structure for the column vectors as well as a set of operations on these v...
Manual control mode activated when the dead man switch is in use.
static const double defaultPositioningVelocity
The pose is a complete representation of every rigid motion in the euclidian space.
void get_cMe(vpHomogeneousMatrix &cMe)
Automatic control mode (default).
void get_cVe(vpVelocityTwistMatrix &cVe)
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Set the velocity (frame has to be specified) that will be applied to the velocity controller...