vpRobotCamera.cpp

/****************************************************************************
 *
 * $Id: vpRobotCamera.cpp 2456 2010-01-07 10:33:12Z nmelchio $
 *
 * 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:
 * Defines the simplest robot : a free flying camera.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/


#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpRobotCamera.h>
#include <visp/vpRobotException.h>
#include <visp/vpDebug.h>
#include <visp/vpExponentialMap.h>


vpRobotCamera::vpRobotCamera()
  : cMw_()
{
  init() ;
}

void vpRobotCamera::init()
{
  nDof = 6;
  eJe.resize(6,6) ;
  eJe.setIdentity() ;
  eJeAvailable = true;
  fJeAvailable = false;
  areJointLimitsAvailable = false;
  qmin = NULL;
  qmax = NULL;

  setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
  setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
}


vpRobotCamera::~vpRobotCamera()
{
}

void
vpRobotCamera::get_cVe(vpVelocityTwistMatrix &cVe) const
{
  vpVelocityTwistMatrix cVe_;
  cVe = cVe_;
}

void
vpRobotCamera::get_eJe(vpMatrix &eJe_)
{
  eJe_ = this->eJe ;
}

void
vpRobotCamera::setVelocity(const vpRobot::vpControlFrameType frame,
                           const vpColVector &v)
{
  switch (frame)
  {
  case vpRobot::ARTICULAR_FRAME:
  case vpRobot::CAMERA_FRAME: {
      if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState ()) {
        setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
      }

      vpColVector v_max(6);

      for (unsigned int i=0; i<3; i++)
        v_max[i] = getMaxTranslationVelocity();
      for (unsigned int i=3; i<6; i++)
        v_max[i] = getMaxRotationVelocity();

      vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);

      this->cMw_ = vpExponentialMap::direct(v_sat, delta_t_).inverse()*this->cMw_ ;
      break ;
    }
  case vpRobot::REFERENCE_FRAME:
    vpERROR_TRACE ("Cannot set a velocity in the reference frame: "
                   "functionality not implemented");
    throw vpRobotException (vpRobotException::wrongStateError,
                            "Cannot set a velocity in the reference frame:"
                            "functionality not implemented");
    break ;
  case vpRobot::MIXT_FRAME:
    vpERROR_TRACE ("Cannot set a velocity in the mixt frame: "
                   "functionality not implemented");
    throw vpRobotException (vpRobotException::wrongStateError,
                            "Cannot set a velocity in the mixt frame:"
                            "functionality not implemented");

    break ;
  }
}


void
vpRobotCamera::getPosition(vpHomogeneousMatrix &cMw) const
{
  cMw = this->cMw_ ;
}

/*
  Get the current position of the robot.

  \param frame : Control frame type in which to get the position, either :
  - in the camera cartesien frame,
  - joint (articular) coordinates of each axes
  - in a reference or fixed cartesien frame attached to the robot base
  - in a mixt cartesien frame (translation in reference frame, and rotation in camera frame)

  \param position : Measured position of the robot:
  - in camera cartesien frame, a 6 dimension vector, set to 0.

  - in articular, a 6 dimension vector corresponding to the articular
  position of each dof, first the 3 translations, then the 3
  articular rotation positions represented by a vpRxyzVector.

  - in reference frame, a 6 dimension vector, the first 3 values correspond to
  the translation tx, ty, tz in meters (like a vpTranslationVector), and the
  last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
*/
void vpRobotCamera::getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)
{
  q.resize (6);

  switch (frame) {
  case vpRobot::CAMERA_FRAME :
    q = 0;
    break;

  case vpRobot::ARTICULAR_FRAME :
  case vpRobot::REFERENCE_FRAME : {
    // Convert wMc_ to a position
    // From fMc extract the pose
    vpRotationMatrix cRw;
    this->cMw_.extract(cRw);
    vpRxyzVector rxyz;
    rxyz.buildFrom(cRw);

    for (unsigned int i=0; i < 3; i++) {
      q[i] = this->cMw_[i][3]; // translation x,y,z
      q[i+3] = rxyz[i]; // Euler rotation x,y,z
    }

    break;
    }
  case vpRobot::MIXT_FRAME :
    std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
  }
}

void
vpRobotCamera::setPosition(const vpHomogeneousMatrix &cMw)
{
  if (vpRobot::STATE_POSITION_CONTROL != getRobotState ()) {
    setRobotState(vpRobot::STATE_POSITION_CONTROL);
  }

  this->cMw_ = cMw ;
}