vpAfma6.cpp

/****************************************************************************
 *
 * $Id: vpAfma6.cpp 4649 2014-02-07 14:57:11Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 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.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp/vpDebug.h>
#include <visp/vpVelocityTwistMatrix.h>
#include <visp/vpRobotException.h>
#include <visp/vpXmlParserCamera.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpRxyzVector.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpRotationMatrix.h>
#include <visp/vpAfma6.h>

/* ----------------------------------------------------------------------- */
/* --- STATIC ------------------------------------------------------------ */
/* ---------------------------------------------------------------------- */

#ifdef VISP_HAVE_ACCESS_TO_NAS
static const char *opt_Afma6[] = {"JOINT_MAX","JOINT_MIN","LONG_56","COUPL_56",
                                  "CAMERA", "eMc_ROT_XYZ","eMc_TRANS_XYZ",
                                  NULL};

const char * const vpAfma6::CONST_AFMA6_FILENAME
#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME
#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_ccmop_without_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_ccmop_without_distortion_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME
#if defined(_WIN32) 
= "Z:/robot/Afma6/current/include/const_eMc_ccmop_with_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_ccmop_with_distortion_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME
#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_gripper_without_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_gripper_without_distortion_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME
#if defined(_WIN32) 
= "Z:/robot/Afma6/current/include/const_eMc_gripper_with_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_gripper_with_distortion_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME
#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_vacuum_without_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_vacuum_without_distortion_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME
#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_vacuum_with_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_vacuum_with_distortion_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_generic_without_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_generic_without_distortion_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
#if defined(_WIN32)
= "Z:/robot/Afma6/current/include/const_eMc_generic_with_distortion_Afma6.cnf";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_eMc_generic_with_distortion_Afma6.cnf";
#endif

const char * const vpAfma6::CONST_CAMERA_AFMA6_FILENAME
#if defined(_WIN32) 
= "Z:/robot/Afma6/current/include/const_camera_Afma6.xml";
#else
= "/udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml";
#endif

#endif // VISP_HAVE_ACCESS_TO_NAS

const char * const vpAfma6::CONST_CCMOP_CAMERA_NAME = "Dragonfly2-8mm-ccmop";
const char * const vpAfma6::CONST_GRIPPER_CAMERA_NAME = "Dragonfly2-6mm-gripper";
const char * const vpAfma6::CONST_VACUUM_CAMERA_NAME = "Dragonfly2-6mm-vacuum";
const char * const vpAfma6::CONST_GENERIC_CAMERA_NAME = "Generic-camera";

const vpAfma6::vpAfma6ToolType vpAfma6::defaultTool = TOOL_CCMOP;

const unsigned int vpAfma6::njoint = 6;

vpAfma6::vpAfma6()
  : _coupl_56(0), _long_56(0), _etc(), _erc(), _eMc(),
    tool_current(vpAfma6::defaultTool),
    projModel(vpCameraParameters::perspectiveProjWithoutDistortion)
{
  // Set the default parameters in case of the config files on the NAS
  // at Inria are not available.

  //
  // Geometric model constant parameters
  //
  // coupling between join 5 and 6
  this->_coupl_56 = 0.009091;
  // distance between join 5 and 6
  this->_long_56  = -0.06924;
  // Camera extrinsic parameters: effector to camera frame
  this->_eMc.setIdentity(); // Default values are initialized ...
  //  ... in init (vpAfma6::vpAfma6ToolType tool,
  //               vpCameraParameters::vpCameraParametersProjType projModel)
  // Maximal value of the joints
  this->_joint_max[0] = 0.7001;
  this->_joint_max[1] = 0.5201;
  this->_joint_max[2] = 0.4601;
  this->_joint_max[3] = 2.7301;
  this->_joint_max[4] = 2.4801;
  this->_joint_max[5] = 1.5901;
  // Minimal value of the joints
  this->_joint_min[0] = -0.6501;
  this->_joint_min[1] = -0.6001;
  this->_joint_min[2] = -0.5001;
  this->_joint_min[3] = -2.7301;
  this->_joint_min[4] = -0.1001;
  this->_joint_min[5] = -1.5901;

  init();

}

void
vpAfma6::init (void)
{
  this->init ( vpAfma6::defaultTool);
  return;
}

#ifdef VISP_HAVE_ACCESS_TO_NAS
void
vpAfma6::init (const char * paramAfma6,
               const char * paramCamera)
{
  //  vpTRACE ("Parsage fichier robot.");
  this->parseConfigFile (paramAfma6);

  //vpTRACE ("Parsage fichier camera.");
  this->parseConfigFile (paramCamera);

  return ;
}
#endif

void
vpAfma6::init (vpAfma6::vpAfma6ToolType tool,
               vpCameraParameters::vpCameraParametersProjType proj_model)
{
  
  this->projModel = proj_model;
  
#ifdef VISP_HAVE_ACCESS_TO_NAS
  // Read the robot parameters from files
  char filename_eMc [FILENAME_MAX];
  switch (tool) {
  case vpAfma6::TOOL_CCMOP: {
    switch(projModel) {
    case vpCameraParameters::perspectiveProjWithoutDistortion :
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(filename_eMc, FILENAME_MAX, "%s",
               CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME);
#else // _WIN32
      _snprintf(filename_eMc, FILENAME_MAX, "%s",
                CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME);
#endif
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(filename_eMc, FILENAME_MAX, "%s",
               CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME);
#else // _WIN32
      _snprintf(filename_eMc, FILENAME_MAX, "%s",
                CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME);
#endif
      break;
    }
    break;
  }
  case vpAfma6::TOOL_GRIPPER: {
    switch(projModel) {
    case vpCameraParameters::perspectiveProjWithoutDistortion :
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(filename_eMc, FILENAME_MAX, "%s",
               CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME);
#else // _WIN32
      _snprintf(filename_eMc, FILENAME_MAX, "%s",
                CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME);
#endif
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(filename_eMc, FILENAME_MAX, "%s",
               CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME);
#else // _WIN32
      _snprintf(filename_eMc, FILENAME_MAX, "%s",
                CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME);
#endif
      break;
    }
    break;
  }
  case vpAfma6::TOOL_VACUUM: {
    switch(projModel) {
    case vpCameraParameters::perspectiveProjWithoutDistortion :
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(filename_eMc, FILENAME_MAX, "%s",
               CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME);
#else // _WIN32
      _snprintf(filename_eMc, FILENAME_MAX, "%s",
                CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME);
#endif
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(filename_eMc, FILENAME_MAX, "%s",
               CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME);
#else // _WIN32
      _snprintf(filename_eMc, FILENAME_MAX, "%s",
                CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME);
#endif
      break;
    }
    break;
  }
  case vpAfma6::TOOL_GENERIC_CAMERA: {
    switch(projModel) {
    case vpCameraParameters::perspectiveProjWithoutDistortion :
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(filename_eMc, FILENAME_MAX, "%s",
               CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME);
#else // _WIN32
      _snprintf(filename_eMc, FILENAME_MAX, "%s",
                CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME);
#endif
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
      snprintf(filename_eMc, FILENAME_MAX, "%s",
               CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME);
#else // _WIN32
      _snprintf(filename_eMc, FILENAME_MAX, "%s",
                CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME);
#endif
      break;
    }
    break;
  }
  default: {
    vpERROR_TRACE ("This error should not occur!");
    //       vpERROR_TRACE ("Si elle survient malgre tout, c'est sans doute "
    //         "que les specs de la classe ont ete modifiee, "
    //         "et que le code n'a pas ete mis a jour "
    //         "correctement.");
    //       vpERROR_TRACE ("Verifiez les valeurs possibles du type "
    //         "vpAfma6::vpAfma6ToolType, et controlez que "
    //         "tous les cas ont ete pris en compte dans la "
    //         "fonction init(camera).");
    break;
  }
  }
  
  this->init (vpAfma6::CONST_AFMA6_FILENAME, filename_eMc);

#else // VISP_HAVE_ACCESS_TO_NAS

  // Use here default values of the robot constant parameters.
  switch (tool) {
  case vpAfma6::TOOL_CCMOP: {
    switch(projModel) {
    case vpCameraParameters::perspectiveProjWithoutDistortion :
      _erc[0] = vpMath::rad(164.35); // rx
      _erc[1] = vpMath::rad( 89.64); // ry
      _erc[2] = vpMath::rad(-73.05); // rz
      _etc[0] = 0.0117; // tx
      _etc[1] = 0.0033; // ty
      _etc[2] = 0.2272; // tz
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
      _erc[0] = vpMath::rad(33.54); // rx
      _erc[1] = vpMath::rad(89.34); // ry
      _erc[2] = vpMath::rad(57.83); // rz
      _etc[0] = 0.0373; // tx
      _etc[1] = 0.0024; // ty
      _etc[2] = 0.2286; // tz
      break;
    }
    break;
  }
  case vpAfma6::TOOL_GRIPPER: {
    switch(projModel) {
    case vpCameraParameters::perspectiveProjWithoutDistortion :
      _erc[0] = vpMath::rad( 88.33); // rx
      _erc[1] = vpMath::rad( 72.07); // ry
      _erc[2] = vpMath::rad(  2.53); // rz
      _etc[0] = 0.0783; // tx
      _etc[1] = 0.1234; // ty
      _etc[2] = 0.1638; // tz
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
      _erc[0] = vpMath::rad(86.69); // rx
      _erc[1] = vpMath::rad(71.93); // ry
      _erc[2] = vpMath::rad( 4.17); // rz
      _etc[0] = 0.1034; // tx
      _etc[1] = 0.1142; // ty
      _etc[2] = 0.1642; // tz
      break;
    }
    break;
  }
  case vpAfma6::TOOL_VACUUM: {
    switch(projModel) {
    case vpCameraParameters::perspectiveProjWithoutDistortion :
      _erc[0] = vpMath::rad( 90.40); // rx
      _erc[1] = vpMath::rad( 75.11); // ry
      _erc[2] = vpMath::rad(  0.18); // rz
      _etc[0] = 0.0038; // tx
      _etc[1] = 0.1281; // ty
      _etc[2] = 0.1658; // tz
      break;
    case vpCameraParameters::perspectiveProjWithDistortion :
      _erc[0] = vpMath::rad(91.61); // rx
      _erc[1] = vpMath::rad(76.17); // ry
      _erc[2] = vpMath::rad(-0.98); // rz
      _etc[0] = 0.0815; // tx
      _etc[1] = 0.1162; // ty
      _etc[2] = 0.1658; // tz
      break;
    }
    break;
  }
  case vpAfma6::TOOL_GENERIC_CAMERA: {
    switch(projModel) {
    case vpCameraParameters::perspectiveProjWithoutDistortion :
    case vpCameraParameters::perspectiveProjWithDistortion :
      // set eMc to identity
      _erc[0] = 0; // rx
      _erc[1] = 0; // ry
      _erc[2] = 0; // rz
      _etc[0] = 0; // tx
      _etc[1] = 0; // ty
      _etc[2] = 0; // tz
      break;
    }
    break;
  }
  }
  vpRotationMatrix eRc(_erc);
  this->_eMc.buildFrom(_etc, eRc);
#endif // VISP_HAVE_ACCESS_TO_NAS

  setToolType(tool);
  return ;
}


vpHomogeneousMatrix
vpAfma6::getForwardKinematics(const vpColVector & q) const
{
  vpHomogeneousMatrix fMc;
  fMc = get_fMc(q);

  return fMc;
}

int
vpAfma6::getInverseKinematics(const vpHomogeneousMatrix & fMc,
                              vpColVector & q, const bool &nearest, const bool &verbose) const
{
  vpHomogeneousMatrix fMe;
  double q_[2][6],d[2],t;
  int ok[2];
  double cord[6];

  int nbsol = 0;

  if (q.getRows() != njoint)
    q.resize(6);


  //   for(unsigned int i=0;i<3;i++) {
  //     fMe[i][3] = fMc[i][3];
  //     for(int j=0;j<3;j++) {
  //       fMe[i][j] = 0.0;
  //       for (int k=0;k<3;k++) fMe[i][j] += fMc[i][k]*rpi[j][k];
  //       fMe[i][3] -= fMe[i][j]*rpi[j][3];
  //     }
  //   }

  //   std::cout << "\n\nfMc: " << fMc;
  //   std::cout << "\n\neMc: " << _eMc;

  fMe = fMc * this->_eMc.inverse();
  //   std::cout << "\n\nfMe: " << fMe;

  if (fMe[2][2] >= .99999f)
  {
    vpTRACE("singularity\n");
    q_[0][4] = q_[1][4] = M_PI/2.f;
    t = atan2(fMe[0][0],fMe[0][1]);
    q_[1][3] = q_[0][3] = q[3];
    q_[1][5] = q_[0][5] = t - q_[0][3];

    while  ((q_[1][5]+vpMath::rad(2)) >= this->_joint_max[5])
      /*            -> a cause du couplage 4/5  */
    {
      q_[1][5] -= vpMath::rad(10);
      q_[1][3] += vpMath::rad(10);
    }
    while  (q_[1][5] <= this->_joint_min[5])
    {
      q_[1][5] += vpMath::rad(10);
      q_[1][3] -= vpMath::rad(10);
    }
  }
  else if (fMe[2][2] <= -.99999)
  {
    vpTRACE("singularity\n");
    q_[0][4] = q_[1][4] = -M_PI/2;
    t = atan2(fMe[1][1],fMe[1][0]);
    q_[1][3] = q_[0][3] = q[3];
    q_[1][5] = q_[0][5] = q_[0][3] - t;
    while  ((q_[1][5]+vpMath::rad(2)) >= this->_joint_max[5])
      /*            -> a cause du couplage 4/5  */
    {
      q_[1][5] -= vpMath::rad(10);
      q_[1][3] -= vpMath::rad(10);
    }
    while  (q_[1][5] <= this->_joint_min[5])
    {
      q_[1][5] += vpMath::rad(10);
      q_[1][3] += vpMath::rad(10);
    }
  }
  else
  {
    q_[0][3] = atan2(-fMe[0][2],fMe[1][2]);
    if (q_[0][3] >= 0.0) q_[1][3] = q_[0][3] - M_PI;
    else q_[1][3] = q_[0][3] + M_PI;

    q_[0][4] = asin(fMe[2][2]);
    if (q_[0][4] >= 0.0) q_[1][4] = M_PI - q_[0][4];
    else q_[1][4] = -M_PI - q_[0][4];

    q_[0][5] = atan2(-fMe[2][1],fMe[2][0]);
    if (q_[0][5] >= 0.0) q_[1][5] = q_[0][5] - M_PI;
    else q_[1][5] = q_[0][5] + M_PI;
  }
  q_[0][0] = fMe[0][3] - this->_long_56*cos(q_[0][3]);
  q_[1][0] = fMe[0][3] - this->_long_56*cos(q_[1][3]);
  q_[0][1] = fMe[1][3] - this->_long_56*sin(q_[0][3]);
  q_[1][1] = fMe[1][3] - this->_long_56*sin(q_[1][3]);
  q_[0][2] = q_[1][2] = fMe[2][3];

  /* prise en compte du couplage axes 5/6   */
  q_[0][5] += this->_coupl_56*q_[0][4];
  q_[1][5] += this->_coupl_56*q_[1][4];

  for (int j=0;j<2;j++)
  {
    ok[j] = 1;
    // test is position is reachable
    for (unsigned int i=0;i<6;i++) {
      if (q_[j][i] < this->_joint_min[i] || q_[j][i] > this->_joint_max[i]) {
        if (verbose) {
          if (i < 3)
            std::cout << "Joint " << i << " not in limits: " << this->_joint_min[i] << " < " << q_[j][i] << " < " << this->_joint_max[i] << std::endl;
          else
            std::cout << "Joint " << i << " not in limits: " << vpMath::deg(this->_joint_min[i]) << " < " << vpMath::deg(q_[j][i]) << " < " << vpMath::deg(this->_joint_max[i]) << std::endl;
        }
        ok[j] = 0;
      }
    }
  }
  if (ok[0] == 0)
  {
    if (ok[1] == 0) {
      std::cout << "No solution..." << std::endl;
      nbsol = 0;
      return nbsol;
    }
    else if (ok[1] == 1) {
      for (unsigned int i=0;i<6;i++) cord[i] = q_[1][i];
      nbsol = 1;
    }
  }
  else
  {
    if (ok[1] == 0) {
      for (unsigned int i=0;i<6;i++) cord[i] = q_[0][i];
      nbsol = 1;
    }
    else
    {
      nbsol = 2;
      //vpTRACE("2 solutions\n");
      for (int j=0;j<2;j++)
      {
        d[j] = 0.0;
        for (unsigned int i=3;i<6;i++)
          d[j] += (q_[j][i] - q[i]) * (q_[j][i] - q[i]);
      }
      if (nearest == true)
      {
        if (d[0] <= d[1])
          for (unsigned int i=0;i<6;i++) cord[i] = q_[0][i];
        else
          for (unsigned int i=0;i<6;i++) cord[i] = q_[1][i];
      }
      else
      {
        if (d[0] <= d[1])
          for (unsigned int i=0;i<6;i++) cord[i] = q_[1][i];
        else
          for (unsigned int i=0;i<6;i++) cord[i] = q_[0][i];
      }
    }
  }
  for(unsigned int i=0; i<6; i++)
    q[i] = cord[i] ;

  return nbsol;
}

vpHomogeneousMatrix
vpAfma6::get_fMc (const vpColVector & q) const
{
  vpHomogeneousMatrix fMc;
  get_fMc(q, fMc);

  return fMc;
}

void
vpAfma6::get_fMc(const vpColVector & q, vpHomogeneousMatrix & fMc) const
{

  // Compute the direct geometric model: fMe = transformation between
  // fix and end effector frame.
  vpHomogeneousMatrix fMe;

  get_fMe(q, fMe);

  fMc = fMe * this->_eMc;

  return;
}

void
vpAfma6::get_fMe(const vpColVector & q, vpHomogeneousMatrix & fMe) const
{
  double            q0 = q[0]; // meter
  double            q1 = q[1]; // meter
  double            q2 = q[2]; // meter

  /* Decouplage liaisons 2 et 3. */
  double            q5 = q[5] - this->_coupl_56 * q[4];

  double            c1 = cos(q[3]);
  double            s1 = sin(q[3]);
  double            c2 = cos(q[4]);
  double            s2 = sin(q[4]);
  double            c3 = cos(q5);
  double            s3 = sin(q5);

  // Compute the direct geometric model: fMe = transformation betwee
  // fix and end effector frame.
  fMe[0][0] = s1*s2*c3 + c1*s3;
  fMe[0][1] = -s1*s2*s3 + c1*c3;
  fMe[0][2] = -s1*c2;
  fMe[0][3] = q0 + this->_long_56*c1;

  fMe[1][0] = -c1*s2*c3 + s1*s3;
  fMe[1][1] = c1*s2*s3 + s1*c3;
  fMe[1][2] = c1*c2;
  fMe[1][3] = q1 + this->_long_56*s1;

  fMe[2][0] = c2*c3;
  fMe[2][1] = -c2*s3;
  fMe[2][2] = s2;
  fMe[2][3] = q2;

  fMe[3][0] = 0;
  fMe[3][1] = 0;
  fMe[3][2] = 0;
  fMe[3][3] = 1;

  //  vpCTRACE << "Effector position fMe: " << std::endl << fMe;

  return;
}

void
vpAfma6::get_cMe(vpHomogeneousMatrix &cMe) const
{
  cMe = this->_eMc.inverse();
}

void
vpAfma6::get_cVe(vpVelocityTwistMatrix &cVe) const
{
  vpHomogeneousMatrix cMe ;
  get_cMe(cMe) ;

  cVe.buildFrom(cMe) ;

  return;
}

void
vpAfma6::get_eJe(const vpColVector &q, vpMatrix &eJe) const
{

  eJe.resize(6,6) ;

  double s4,c4,s5,c5,s6,c6 ;

  s4=sin(q[3]); c4=cos(q[3]);
  s5=sin(q[4]); c5=cos(q[4]);
  s6=sin(q[5]-this->_coupl_56*q[4]); c6=cos(q[5]-this->_coupl_56*q[4]);

  eJe = 0;
  eJe[0][0] = s4*s5*c6+c4*s6;
  eJe[0][1] = -c4*s5*c6+s4*s6;
  eJe[0][2] = c5*c6;
  eJe[0][3] = - this->_long_56*s5*c6;

  eJe[1][0] = -s4*s5*s6+c4*c6;
  eJe[1][1] = c4*s5*s6+s4*c6;
  eJe[1][2] = -c5*s6;
  eJe[1][3] = this->_long_56*s5*s6;

  eJe[2][0] = -s4*c5;
  eJe[2][1] = c4*c5;
  eJe[2][2] = s5;
  eJe[2][3] = this->_long_56*c5;

  eJe[3][3] = c5*c6;
  eJe[3][4] = s6;

  eJe[4][3] = -c5*s6;
  eJe[4][4] = c6;

  eJe[5][3] = s5;
  eJe[5][4] = -this->_coupl_56;
  eJe[5][5] = 1;

  return;
}


void
vpAfma6::get_fJe(const vpColVector &q, vpMatrix &fJe) const
{

  fJe.resize(6,6) ;

  // block superieur gauche
  fJe[0][0] = fJe[1][1] = fJe[2][2] = 1 ;

  double s4 = sin(q[3]) ;
  double c4 = cos(q[3]) ;


  // block superieur droit
  fJe[0][3] = - this->_long_56*s4 ;
  fJe[1][3] =   this->_long_56*c4 ;


  double s5 = sin(q[4]) ;
  double c5 = cos(q[4]) ;
  // block inferieur droit
  fJe[3][4] = c4 ;     fJe[3][5] = -s4*c5 ;
  fJe[4][4] = s4 ;     fJe[4][5] = c4*c5 ;
  fJe[5][3] = 1 ;      fJe[5][5] = s5 ;

  // coupling between joint 5 and 6
  fJe[3][4] += this->_coupl_56*s4*c5;
  fJe[4][4] += -this->_coupl_56*c4*c5;
  fJe[5][4] += -this->_coupl_56*s5;

  return;
}


vpColVector
vpAfma6::getJointMin() const
{
  vpColVector qmin(6);
  for (unsigned int i=0; i < 6; i ++)
    qmin[i] = this->_joint_min[i];
  return qmin;
}

vpColVector
vpAfma6::getJointMax() const
{
  vpColVector qmax(6);
  for (unsigned int i=0; i < 6; i ++)
    qmax[i] = this->_joint_max[i];
  return qmax;
}

double
vpAfma6::getCoupl56() const
{
  return _coupl_56;
}

double
vpAfma6::getLong56() const
{
  return _long_56;
}


#ifdef VISP_HAVE_ACCESS_TO_NAS
void
vpAfma6::parseConfigFile (const char * filename)
{
  size_t            dim;
  int               code;
  char              Ligne[FILENAME_MAX];
  char              namoption[100];
  FILE *            fdtask;
  int               numLn = 0;
  double rot_eMc[3]; // rotation
  double trans_eMc[3]; // translation
  bool get_rot_eMc = false;
  bool get_trans_eMc = false;

  //vpTRACE("Read the config file for constant parameters %s.", filename);
  if ((fdtask = fopen(filename, "r" )) == NULL)
  {
    vpERROR_TRACE ("Impossible to read the config file %s.",
                   filename);
    throw vpRobotException (vpRobotException::readingParametersError,
                            "Impossible to read the config file.");
  }

  while (fgets(Ligne, FILENAME_MAX, fdtask) != NULL) {
    numLn ++;
    if ('#' == Ligne[0]) { continue; }
    sscanf(Ligne, "%s", namoption);
    dim = strlen(namoption);

    for (code = 0;
         NULL != opt_Afma6[code];
         ++ code)
    {
      if (strncmp(opt_Afma6[code], namoption, dim) == 0)
      {
        break;
      }
    }

    switch(code)
    {
    case 0:
      sscanf(Ligne, "%s %lf %lf %lf %lf %lf %lf",
             namoption,
             &this->_joint_max[0], &this->_joint_max[1],
             &this->_joint_max[2], &this->_joint_max[3],
             &this->_joint_max[4], &this->_joint_max[5]);
      break;

    case 1:
      sscanf(Ligne, "%s %lf %lf %lf %lf %lf %lf", namoption,
             &this->_joint_min[0], &this->_joint_min[1],
             &this->_joint_min[2], &this->_joint_min[3],
             &this->_joint_min[4], &this->_joint_min[5]);
      break;

    case 2:
      sscanf(Ligne, "%s %lf", namoption, &this->_long_56);
      break;

    case 3:
      sscanf(Ligne, "%s %lf", namoption, &this->_coupl_56);
      break;

    case 4:
      break; // Nothing to do: camera name

    case 5:
      sscanf(Ligne, "%s %lf %lf %lf", namoption,
             &rot_eMc[0],
             &rot_eMc[1],
             &rot_eMc[2]);

      // Convert rotation from degrees to radians
      rot_eMc[0] *= M_PI / 180.0;
      rot_eMc[1] *= M_PI / 180.0;
      rot_eMc[2] *= M_PI / 180.0;
      get_rot_eMc = true;
      break;

    case 6:
      sscanf(Ligne, "%s %lf %lf %lf", namoption,
             &trans_eMc[0],
             &trans_eMc[1],
             &trans_eMc[2]);
      get_trans_eMc = true;
      break;

    default:
      vpERROR_TRACE ("Bad configuration file %s  "
                     "ligne #%d.", filename, numLn);
    } /* SWITCH */
  } /* WHILE */

  fclose (fdtask);

  // Compute the eMc matrix from the translations and rotations
  if (get_rot_eMc && get_trans_eMc) {
    for (unsigned int i=0; i < 3; i ++) {
      _erc[i] = rot_eMc[i];
      _etc[i] = trans_eMc[i];
    }

    vpRotationMatrix eRc(_erc);
    this->_eMc.buildFrom(_etc, eRc);
  }

  return;
}
#endif

void
vpAfma6::getCameraParameters (vpCameraParameters &cam,
                              const unsigned int &image_width,
                              const unsigned int &image_height) const
{
#if defined(VISP_HAVE_XML2) && defined (VISP_HAVE_ACCESS_TO_NAS)
  vpXmlParserCamera parser;
  switch (getToolType()) {
  case vpAfma6::TOOL_CCMOP: {
    std::cout << "Get camera parameters for camera \""
              << vpAfma6::CONST_CCMOP_CAMERA_NAME << "\"" << std::endl
              << "from the XML file: \""
              << vpAfma6::CONST_CAMERA_AFMA6_FILENAME << "\""<< std::endl;
    if (parser.parse(cam,
                     vpAfma6::CONST_CAMERA_AFMA6_FILENAME,
                     vpAfma6::CONST_CCMOP_CAMERA_NAME,
                     projModel,
                     image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
      throw vpRobotException (vpRobotException::readingParametersError,
                              "Impossible to read the camera parameters.");
    }
    break;
  }
  case vpAfma6::TOOL_GRIPPER: {
    std::cout << "Get camera parameters for camera \""
              << vpAfma6::CONST_GRIPPER_CAMERA_NAME << "\"" << std::endl
              << "from the XML file: \""
              << vpAfma6::CONST_CAMERA_AFMA6_FILENAME << "\""<< std::endl;
    if (parser.parse(cam,
                     vpAfma6::CONST_CAMERA_AFMA6_FILENAME,
                     vpAfma6::CONST_GRIPPER_CAMERA_NAME,
                     projModel,
                     image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
      throw vpRobotException (vpRobotException::readingParametersError,
                              "Impossible to read the camera parameters.");
    }
    break;
  }
  case vpAfma6::TOOL_VACUUM: {
    std::cout << "Get camera parameters for camera \""
              << vpAfma6::CONST_VACUUM_CAMERA_NAME << "\"" << std::endl
              << "from the XML file: \""
              << vpAfma6::CONST_CAMERA_AFMA6_FILENAME << "\""<< std::endl;
    if (parser.parse(cam,
                     vpAfma6::CONST_CAMERA_AFMA6_FILENAME,
                     vpAfma6::CONST_VACUUM_CAMERA_NAME,
                     projModel,
                     image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
      throw vpRobotException (vpRobotException::readingParametersError,
                              "Impossible to read the camera parameters.");
    }
    break;
  }
  case vpAfma6::TOOL_GENERIC_CAMERA: {
    std::cout << "Get camera parameters for camera \""
              << vpAfma6::CONST_GENERIC_CAMERA_NAME << "\"" << std::endl
              << "from the XML file: \""
              << vpAfma6::CONST_CAMERA_AFMA6_FILENAME << "\""<< std::endl;
    if (parser.parse(cam,
                     vpAfma6::CONST_CAMERA_AFMA6_FILENAME,
                     vpAfma6::CONST_GENERIC_CAMERA_NAME,
                     projModel,
                     image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
      throw vpRobotException (vpRobotException::readingParametersError,
                              "Impossible to read the camera parameters.");
    }
    break;
  }
  default: {
    vpERROR_TRACE ("This error should not occur!");
    //       vpERROR_TRACE ("Si elle survient malgre tout, c'est sans doute "
    //        "que les specs de la classe ont ete modifiee, "
    //        "et que le code n'a pas ete mis a jour "
    //        "correctement.");
    //       vpERROR_TRACE ("Verifiez les valeurs possibles du type "
    //        "vpAfma6::vpAfma6ToolType, et controlez que "
    //        "tous les cas ont ete pris en compte dans la "
    //        "fonction init(camera).");
    throw vpRobotException (vpRobotException::readingParametersError,
                            "Impossible to read the camera parameters.");
    break;
  }
  }
#else
  // Set default parameters
  switch (getToolType()) {
  case vpAfma6::TOOL_CCMOP: {
    // Set default intrinsic camera parameters for 640x480 images
    if (image_width == 640 && image_height == 480) {
      std::cout << "Get default camera parameters for camera \""
                << vpAfma6::CONST_CCMOP_CAMERA_NAME << "\"" << std::endl;
      switch(this->projModel) {
      case vpCameraParameters::perspectiveProjWithoutDistortion :
        cam.initPersProjWithoutDistortion(1108.0, 1110.0, 314.5, 243.2);
        break;
      case vpCameraParameters::perspectiveProjWithDistortion :
        cam.initPersProjWithDistortion(1090.6, 1090.0, 310.1, 260.8, -0.2114, 0.2217);
        break;
      }
    }
    else {
      vpTRACE("Cannot get default intrinsic camera parameters for this image resolution");
      throw vpRobotException (vpRobotException::readingParametersError,
                              "Impossible to read the camera parameters.");
    }
    break;
  }
  case vpAfma6::TOOL_GRIPPER: {
    // Set default intrinsic camera parameters for 640x480 images
    if (image_width == 640 && image_height == 480) {
      std::cout << "Get default camera parameters for camera \""
                << vpAfma6::CONST_GRIPPER_CAMERA_NAME << "\"" << std::endl;
      switch(this->projModel) {
      case vpCameraParameters::perspectiveProjWithoutDistortion :
        cam.initPersProjWithoutDistortion(850.9, 853.0, 311.1, 243.6);
        break;
      case vpCameraParameters::perspectiveProjWithDistortion :
        cam.initPersProjWithDistortion(837.0, 837.5, 308.7, 251.6, -0.1455, 0.1511);
        break;
      }
    }
    else {
      vpTRACE("Cannot get default intrinsic camera parameters for this image resolution");
      throw vpRobotException (vpRobotException::readingParametersError,
                              "Impossible to read the camera parameters.");
    }
    break;
  }
  case vpAfma6::TOOL_VACUUM: {
    // Set default intrinsic camera parameters for 640x480 images
    if (image_width == 640 && image_height == 480) {
      std::cout << "Get default camera parameters for camera \""
                << vpAfma6::CONST_VACUUM_CAMERA_NAME << "\"" << std::endl;
      switch(this->projModel) {
      case vpCameraParameters::perspectiveProjWithoutDistortion :
        cam.initPersProjWithoutDistortion(853.5, 856.0, 307.8, 236.8);
        break;
      case vpCameraParameters::perspectiveProjWithDistortion :
        cam.initPersProjWithDistortion(828.5, 829.0, 322.5, 232.9, -0.1921, 0.2057);
        break;
      }
    }
    else {
      vpTRACE("Cannot get default intrinsic camera parameters for this image resolution");
      throw vpRobotException (vpRobotException::readingParametersError,
                              "Impossible to read the camera parameters.");
    }
    break;
  }
  case vpAfma6::TOOL_GENERIC_CAMERA: {
    // Set default intrinsic camera parameters for 640x480 images
    if (image_width == 640 && image_height == 480) {
      std::cout << "Get default camera parameters for camera \""
                << vpAfma6::CONST_GENERIC_CAMERA_NAME << "\"" << std::endl;
      switch(this->projModel) {
      case vpCameraParameters::perspectiveProjWithoutDistortion :
        cam.initPersProjWithoutDistortion(853.5, 856.0, 307.8, 236.8);
        break;
      case vpCameraParameters::perspectiveProjWithDistortion :
        cam.initPersProjWithDistortion(828.5, 829.0, 322.5, 232.9, -0.1921, 0.2057);
        break;
      }
    }
    else {
      vpTRACE("Cannot get default intrinsic camera parameters for this image resolution");
      throw vpRobotException (vpRobotException::readingParametersError,
                              "Impossible to read the camera parameters.");
    }
    break;
  }
  default:
    vpERROR_TRACE ("This error should not occur!");
    break;
  }
#endif
  return;
}

void
vpAfma6::getCameraParameters (vpCameraParameters &cam,
                              const vpImage<unsigned char> &I) const
{
  getCameraParameters(cam,I.getWidth(),I.getHeight());
}
void
vpAfma6::getCameraParameters (vpCameraParameters &cam,
                              const vpImage<vpRGBa> &I) const
{
  getCameraParameters(cam,I.getWidth(),I.getHeight());
}


VISP_EXPORT std::ostream & operator << (std::ostream & os,
                            const vpAfma6 & afma6)
{
  vpRotationMatrix eRc;
  afma6._eMc.extract(eRc);
  vpRxyzVector rxyz(eRc);

  os
      << "Joint Max:" << std::endl
      << "\t" << afma6._joint_max[0]
      << "\t" << afma6._joint_max[1]
      << "\t" << afma6._joint_max[2]
      << "\t" << afma6._joint_max[3]
      << "\t" << afma6._joint_max[4]
      << "\t" << afma6._joint_max[5]
      << "\t" << std::endl

      << "Joint Min: " << std::endl
      << "\t" << afma6._joint_min[0]
      << "\t" << afma6._joint_min[1]
      << "\t" << afma6._joint_min[2]
      << "\t" << afma6._joint_min[3]
      << "\t" << afma6._joint_min[4]
      << "\t" << afma6._joint_min[5]
      << "\t" << std::endl

      << "Long 5-6: " << std::endl
      << "\t" << afma6._long_56
      << "\t" << std::endl

      << "Coupling 5-6:" << std::endl
      << "\t" << afma6._coupl_56
      << "\t" << std::endl

      << "eMc: "<< std::endl
      << "\tTranslation (m): "
      << afma6._eMc[0][3] << " "
      << afma6._eMc[1][3] << " "
      << afma6._eMc[2][3]
      << "\t" << std::endl
      << "\tRotation Rxyz (rad) : "
      << rxyz[0] << " "
      << rxyz[1] << " "
      << rxyz[2]
      << "\t" << std::endl
      << "\tRotation Rxyz (deg) : "
      << vpMath::deg(rxyz[0])  << " "
      << vpMath::deg(rxyz[1])  << " "
      << vpMath::deg(rxyz[2])
      << "\t" << std::endl;

  return os;
}