vpRobot.h

/****************************************************************************
 *
 * $Id: vpRobot.h 4632 2014-02-03 17:06:40Z 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:
 * Generic virtual robot.
 *
 * Authors:
 * Eric Marchand
 *
 *****************************************************************************/

#ifndef vpRobot_H
#define vpRobot_H

#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpMatrix.h>
#include <visp/vpColVector.h>
#include <visp/vpPoseVector.h>


class VISP_EXPORT vpRobot
{
public:
  typedef enum
  {
    STATE_STOP,  
    STATE_VELOCITY_CONTROL, 
    STATE_POSITION_CONTROL, 
    STATE_ACCELERATION_CONTROL 
  } vpRobotStateType ;

  typedef enum
  {
    REFERENCE_FRAME, 
    ARTICULAR_FRAME, 
    CAMERA_FRAME,    
    MIXT_FRAME 
  } vpControlFrameType ;

private:  /* Membres privees */
  vpRobot::vpRobotStateType   stateRobot;
  vpRobot::vpControlFrameType   frameRobot;

protected:
  double maxTranslationVelocity;
  static const double maxTranslationVelocityDefault;// = 0.2;
  double maxRotationVelocity;
  static const double maxRotationVelocityDefault;// = 0.7;

  int nDof ;
  vpMatrix eJe ;
  int eJeAvailable ;
  vpMatrix fJe ;
  int fJeAvailable ;

  int areJointLimitsAvailable ;
  double *qmin;
  double *qmax ;

  bool verbose_;

public:
  vpRobot (void);
  vpRobot (const vpRobot &robot);
  virtual ~vpRobot() { ; }

  //---------- Jacobian -----------------------------
  virtual void get_eJe(vpMatrix &_eJe) = 0 ;
  virtual void get_fJe(vpMatrix &_fJe) = 0 ;

  virtual void getDisplacement(const vpRobot::vpControlFrameType frame,
                               vpColVector &q) = 0 ;

  double getMaxTranslationVelocity (void) const ;
  double getMaxRotationVelocity (void) const;
  virtual void getPosition(const vpRobot::vpControlFrameType frame,
                           vpColVector &q)   = 0 ;

  // Return the robot position (frame has to be specified).
  vpColVector getPosition (const vpRobot::vpControlFrameType frame);
  virtual vpRobotStateType getRobotState (void) const { return stateRobot ; }

  virtual void init() = 0 ;

  vpRobot & operator=(const vpRobot &robot);

  static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false);

  void setMaxRotationVelocity (const double maxVr);
  void setMaxTranslationVelocity (const double maxVt);
  virtual void setPosition(const vpRobot::vpControlFrameType frame,
                           const vpColVector &q)   = 0 ;
  virtual vpRobotStateType setRobotState (const vpRobot::vpRobotStateType newState);

  virtual void setVelocity(const vpRobot::vpControlFrameType frame,
                           const vpColVector &vel) = 0 ;
  inline void setVerbose(bool verbose) { verbose_ = verbose; };

protected:
  vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame);
  vpControlFrameType getRobotFrame (void) const { return frameRobot ; }
} ;

#endif