#include <visp3/robot/vpAfma6.h>

Inheritance diagram for vpAfma6:

Public Types
enum	vpAfma6ToolType { TOOL_CCMOP, TOOL_GRIPPER, TOOL_VACUUM, TOOL_GENERIC_CAMERA }

Public Member Functions
	vpAfma6 ()

virtual	~vpAfma6 ()

void	init (void)

void	init (const char paramAfma6, const char paramCamera)

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

vpHomogeneousMatrix	getForwardKinematics (const vpColVector &q) const

int	getInverseKinematics (const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &nearest=true, const bool &verbose=false) const

vpHomogeneousMatrix	get_fMc (const vpColVector &q) const

void	get_fMe (const vpColVector &q, vpHomogeneousMatrix &fMe) const

void	get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const

void	get_cMe (vpHomogeneousMatrix &cMe) const

void	get_cVe (vpVelocityTwistMatrix &cVe) const

void	get_eJe (const vpColVector &q, vpMatrix &eJe) const

void	get_fJe (const vpColVector &q, vpMatrix &fJe) const

void	parseConfigFile (const char *filename)

vpAfma6ToolType	getToolType () const

vpCameraParameters::vpCameraParametersProjType	getCameraParametersProjType () const

void	getCameraParameters (vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const

void	getCameraParameters (vpCameraParameters &cam, const vpImage< unsigned char > &I) const

void	getCameraParameters (vpCameraParameters &cam, const vpImage< vpRGBa > &I) const

vpColVector	getJointMin () const

vpColVector	getJointMax () const

double	getCoupl56 () const

double	getLong56 () const

Static Public Attributes
static const char *const	CONST_AFMA6_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_Afma6.cnf"

static const char *const	CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_ccmop_without_distortion_Afma6.cnf"

static const char *const	CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_ccmop_with_distortion_Afma6.cnf"

static const char *const	CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_gripper_without_distortion_Afma6.cnf"

static const char *const	CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_gripper_with_distortion_Afma6.cnf"

static const char *const	CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_vacuum_without_distortion_Afma6.cnf"

static const char *const	CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_vacuum_with_distortion_Afma6.cnf"

static const char *const	CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_generic_without_distortion_Afma6.cnf"

static const char *const	CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_generic_with_distortion_Afma6.cnf"

static const char *const	CONST_CAMERA_AFMA6_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml"

static const char *const	CONST_CCMOP_CAMERA_NAME = "Dragonfly2-8mm-ccmop"

static const char *const	CONST_GRIPPER_CAMERA_NAME = "Dragonfly2-6mm-gripper"

static const char *const	CONST_VACUUM_CAMERA_NAME = "Dragonfly2-6mm-vacuum"

static const char *const	CONST_GENERIC_CAMERA_NAME = "Generic-camera"

static const vpAfma6ToolType	defaultTool = TOOL_CCMOP

static const unsigned int	njoint = 6

Protected Member Functions
void	setToolType (vpAfma6::vpAfma6ToolType tool)

Protected Attributes
double	_coupl_56

double	_long_56

double	_joint_max [6]

double	_joint_min [6]

vpTranslationVector	_etc

vpRxyzVector	_erc

vpHomogeneousMatrix	_eMc

vpAfma6ToolType	tool_current

vpCameraParameters::vpCameraParametersProjType	projModel

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpAfma6 &afma6)

Detailed Description

Modelisation of Irisa's gantry robot named Afma6.

Examples:: testAfma6.cpp.

Definition at line 65 of file vpAfma6.h.

Member Enumeration Documentation

enum vpAfma6::vpAfma6ToolType

List of possible tools that can be attached to the robot end-effector.

Enumerator
TOOL_CCMOP	Pneumatic CCMOP gripper.
TOOL_GRIPPER	Pneumatic gripper with 2 fingers.
TOOL_VACUUM	Pneumatic vaccum gripper.
TOOL_GENERIC_CAMERA	A generic camera.

Definition at line 104 of file vpAfma6.h.

Constructor & Destructor Documentation

vpAfma6::vpAfma6 ( )

Default constructor.

Definition at line 152 of file vpAfma6.cpp.

References _coupl_56, _eMc, _joint_max, _joint_min, _long_56, vpHomogeneousMatrix::eye(), and init().

virtual vpAfma6::~vpAfma6 ( )

inlinevirtual

Destructor that does nothing.

Definition at line 118 of file vpAfma6.h.

Member Function Documentation

void vpAfma6::get_cMe ( vpHomogeneousMatrix & cMe ) const

Get the geometric transformation between the camera frame and the end-effector frame. This transformation is constant and correspond to the extrinsic camera parameters estimated by calibration.

Parameters

cMe	: Transformation between the camera frame and the end-effector frame.

Definition at line 857 of file vpAfma6.cpp.

References _eMc, and vpHomogeneousMatrix::inverse().

Referenced by vpSimulatorAfma6::get_cMe(), vpRobotAfma6::get_cMe(), get_cVe(), vpSimulatorAfma6::get_cVe(), and vpRobotAfma6::get_cVe().

void vpAfma6::get_cVe ( vpVelocityTwistMatrix & cVe ) const

Get the twist transformation from camera frame to end-effector frame. This transformation allows to compute a velocity expressed in the end-effector frame into the camera frame.

Parameters

cVe	: Twist transformation.

Definition at line 872 of file vpAfma6.cpp.

References vpVelocityTwistMatrix::buildFrom(), and get_cMe().

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

Get the robot jacobian expressed in the end-effector frame.

Parameters

q	: Articular joint position of the robot. q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 succesives rotations expressed in radians.
eJe	: Robot jacobian expressed in the end-effector frame.

Definition at line 895 of file vpAfma6.cpp.

References _coupl_56, _long_56, and vpArray2D< Type >::resize().

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::get_eJe(), vpRobotAfma6::get_eJe(), and vpSimulatorAfma6::getVelocity().

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

Get the robot jacobian expressed in the robot reference frame also called fix frame.

${^f}J_e = \left(\begin{array}{cccccc} 1 & 0 & 0 & -Ls4 & 0 & 0 \\ 0 & 1 & 0 & Lc4 & 0 & 0 \\ 0 & 0 & 1 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & c4+\gamma s4c5 & -s4c5 \\ 0 & 0 & 0 & 0 & s4-\gamma c4c5 & c4c5 \\ 0 & 0 & 0 & 1 & -gamma s5 & s5 \\ \end{array} \right)$

where $\gamma$ is the coupling factor between join 5 and 6.

Parameters

q	: Articular joint position of the robot. q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 succesives rotations expressed in radians.
fJe	: Robot jacobian expressed in the robot reference frame.

Definition at line 964 of file vpAfma6.cpp.

References _coupl_56, _long_56, and vpArray2D< Type >::resize().

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::get_fJe(), vpRobotAfma6::get_fJe(), and vpSimulatorAfma6::getVelocity().

vpHomogeneousMatrix vpAfma6::get_fMc ( const vpColVector & q ) const

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the six joints.

This method is the same than getForwardKinematics(const vpColVector & q).

Parameters

q	: Articular position of the six joints: q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 succesives rotations expressed in radians.

Returns: The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the base frame and the camera frame (fMc).

See also: getForwardKinematics(const vpColVector & q)

Examples:: testRobotAfma6Pose.cpp.

Definition at line 741 of file vpAfma6.cpp.

Referenced by vpSimulatorAfma6::compute_fMi(), vpRobotAfma6::getDisplacement(), getForwardKinematics(), vpSimulatorAfma6::getPosition(), vpRobotAfma6::getPosition(), vpRobotAfma6::getVelocity(), vpSimulatorAfma6::setPosition(), and vpRobotAfma6::setPosition().

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

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the six joints.

Parameters

q	: Articular joint position of the robot. q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 succesives rotations expressed in radians.
fMc	The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the fix frame and the camera frame (fMc).

Definition at line 769 of file vpAfma6.cpp.

References _eMc, and get_fMe().

void vpAfma6::get_fMe	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMe
	)		const

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the end effector with respect to the base frame given the articular positions of all the six joints.

Parameters

q	: Articular joint position of the robot. q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 succesives rotations expressed in radians.
fMe	The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the fix frame and the end effector frame (fMe).

Definition at line 803 of file vpAfma6.cpp.

References _coupl_56, and _long_56.

Referenced by get_fMc().

void vpAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const unsigned int &	image_width,
		const unsigned int &	image_height
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Warning: This method needs XML library to parse the file defined in vpAfma6::CONST_CAMERA_AFMA6_FILENAME and containing the camera parameters. If XML is detected by ViSP, VISP_HAVE_XML2 macro is defined in include/visp3/core/vpConfig.h file.; Thid method needs also an access to the file located on Inria's NAS server and containing the camera parameters in XML format. This access is available if VISP_HAVE_ACCESS_TO_NAS macro is defined in include/visp3/core/vpConfig.h file.

If VISP_HAVE_ACCESS_TO_NAS and VISP_HAVE_XML2 macros are defined, this method gets the camera parameters from /udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml config file.
If these two macros are not defined, this method set the camera parameters to default one.

Parameters

cam	: In output, camera parameters to fill.
image_width	: Image width used to compute camera calibration.
image_height	: Image height used to compute camera calibration.

The code below shows how to get the camera parameters of the camera attached to the robot.

#include <visp3/core/vpImage.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/core/vpCameraParameters.h>
int main()
{
#if defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_AFMA6)
  vpImage<unsigned char> I;
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
  vpRobotAfma6 robot;
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  // Camera parameters are read from
  // /udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml
  // if VISP_HAVE_ACCESS_TO_NAS and VISP_HAVE_XML2 macros are defined in vpConfig.h file
  try {
    robot.getCameraParameters (cam, I.getWidth(), I.getHeight());
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Examples:: servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityInteractionCurrent.cpp, servoAfma6FourPoints2DCamVelocityInteractionDesired.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, testAfma6.cpp, testRobotAfma6.cpp, and testRobotAfma6Pose.cpp.

Definition at line 1244 of file vpAfma6.cpp.

References CONST_CAMERA_AFMA6_FILENAME, CONST_CCMOP_CAMERA_NAME, CONST_GENERIC_CAMERA_NAME, CONST_GRIPPER_CAMERA_NAME, CONST_VACUUM_CAMERA_NAME, getToolType(), vpCameraParameters::initPersProjWithDistortion(), vpCameraParameters::initPersProjWithoutDistortion(), vpXmlParserCamera::parse(), vpCameraParameters::perspectiveProjWithDistortion, vpCameraParameters::perspectiveProjWithoutDistortion, projModel, vpRobotException::readingParametersError, vpXmlParserCamera::SEQUENCE_OK, TOOL_CCMOP, TOOL_GENERIC_CAMERA, TOOL_GRIPPER, TOOL_VACUUM, vpERROR_TRACE, and vpTRACE.

Referenced by getCameraParameters().

void vpAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const vpImage< unsigned char > &	I
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Camera parameters are read from /udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml

Parameters

cam	: In output, camera parameters to fill.
I	: A B&W image send by the current camera in use.

#include <visp3/core/vpImage.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/core/vpCameraParameters.h>
int main()
{
#if defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_AFMA6)
  vpImage<unsigned char> I;
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
  vpRobotAfma6 robot;
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  try {
    robot.getCameraParameters (cam, I);
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Definition at line 1463 of file vpAfma6.cpp.

References getCameraParameters(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

void vpAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const vpImage< vpRGBa > &	I
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Camera parameters are read from /udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml

Parameters

cam	: In output, camera parameters to fill.
I	: A color image send by the current camera in use.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/core/vpCameraParameters.h>
int main()
{
#if defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_AFMA6)
  vpImage<vpRGBa> I;
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
  vpRobotAfma6 robot;
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  try {
    robot.getCameraParameters (cam, I);
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Definition at line 1512 of file vpAfma6.cpp.

References getCameraParameters(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

vpCameraParameters::vpCameraParametersProjType vpAfma6::getCameraParametersProjType ( ) const

inline

Get the current camera model projection type.

Definition at line 150 of file vpAfma6.h.

double vpAfma6::getCoupl56 ( ) const

Return the coupling factor between join 5 and 6.

Returns: Coupling factor between join 5 and 6.

Definition at line 1038 of file vpAfma6.cpp.

References _coupl_56.

vpHomogeneousMatrix vpAfma6::getForwardKinematics ( const vpColVector & q ) const

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the six joints.

This method is the same than get_fMc(const vpColVector & q).

Parameters

q	: Articular position of the six joints: q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 succesives rotations expressed in radians.

Returns: The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the base frame and the camera frame (fMc).

See also: get_fMc(const vpColVector & q); getInverseKinematics()

Definition at line 478 of file vpAfma6.cpp.

References get_fMc().

int vpAfma6::getInverseKinematics	(	const vpHomogeneousMatrix &	fMc,
		vpColVector &	q,
		const bool &	nearest = `true`,
		const bool &	verbose = `false`
	)		const

Compute the inverse kinematics (inverse geometric model).

By inverse kinematics we mean here the six articular values of the joint positions given the position and the orientation of the camera frame relative to the base frame.

Parameters

fMc	: Homogeneous matrix describing the transformation from base frame to the camera frame.
q	: In input, the current articular joint position of the robot. In output, the solution of the inverse kinematics. Articular position of the six joints: q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 succesives rotations expressed in radians.
nearest	: true to return the nearest solution to q. false to return the farest.
verbose	: Activates printings when no solution is found.

Returns: The number of solutions (1 or 2) of the inverse geometric model. O, if no solution can be found.

The code below shows how to compute the inverse geometric model:

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/robot/vpRobotAfma6.h>
int main()
{
#ifdef VISP_HAVE_AFMA6
  vpColVector q1(6), q2(6);
  vpHomogeneousMatrix fMc;
  vpRobotAfma6 robot;
  // Get the current articular position of the robot
  robot.getPosition(vpRobot::ARTICULAR_FRAME, q1);
  // Compute the pose of the camera in the reference frame using the
  // direct geometric model
  fMc = robot.getForwardKinematics(q1);
  // this is similar to  fMc = robot.get_fMc(q1);
  // or robot.get_fMc(q1, fMc);
  // Compute the inverse geometric model
  int nbsol; // number of solutions (0, 1 or 2) of the inverse geometric model
  // get the nearest solution to the current articular position
  nbsol = robot.getInverseKinematics(fMc, q1, true);
  if (nbsol == 0)
    std::cout << "No solution of the inverse geometric model " << std::endl;
  else if (nbsol >= 1)
    std::cout << "First solution: " << q1 << std::endl;
  if (nbsol == 2) {
    // Compute the other solution of the inverse geometric model
    q2 = q1;
    robot.getInverseKinematics(fMc, q2, false);
    std::cout << "Second solution: " << q2 << std::endl;
  }
#endif
}

See also: getForwardKinematics()

Definition at line 560 of file vpAfma6.cpp.

References _coupl_56, _eMc, _joint_max, _joint_min, _long_56, vpMath::deg(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), njoint, vpMath::rad(), vpColVector::resize(), and vpTRACE.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), and vpRobotAfma6::setPosition().

vpColVector vpAfma6::getJointMax ( ) const

Get max joint values.

Returns: Maximal joint values for the 6 dof X,Y,Z,A,B,C. Translation X,Y,Z are expressed in meters. Rotation A,B,C in radians.

Definition at line 1023 of file vpAfma6.cpp.

References _joint_max.

vpColVector vpAfma6::getJointMin ( ) const

Get min joint values.

Returns: Minimal joint values for the 6 dof X,Y,Z,A,B,C. Translation X,Y,Z are expressed in meters. Rotation A,B,C in radians.

Definition at line 1006 of file vpAfma6.cpp.

References _joint_min.

double vpAfma6::getLong56 ( ) const

Return the distance between join 5 and 6.

Returns: Distance between join 5 and 6.

Definition at line 1050 of file vpAfma6.cpp.

References _long_56.

vpAfma6ToolType vpAfma6::getToolType ( ) const

inline

Get the current tool type.

Definition at line 146 of file vpAfma6.h.

Referenced by getCameraParameters(), vpSimulatorAfma6::getCameraParameters(), and vpSimulatorAfma6::initArms().

void vpAfma6::init ( void )

Initialize the robot with the default tool vpAfma6::defaultTool.

Examples:: testAfma6.cpp.

Definition at line 195 of file vpAfma6.cpp.

References defaultTool.

Referenced by init(), vpRobotAfma6::init(), and vpAfma6().

void vpAfma6::init	(	const char *	paramAfma6,
		const char *	paramCamera
	)

Read files containing the constant parameters related to the robot kinematics and to the end-effector to camera transformation.

Warning: This function is only available if the macro VISP_HAVE_ACCESS_TO_NAS is defined in vpConfig.h.

Parameters

paramAfma6	: Filename containing the constant parameters of the robot kinematics.
paramCamera	: Filename containing the camera extrinsic parameters.

Definition at line 217 of file vpAfma6.cpp.

References parseConfigFile().

void vpAfma6::init	(	vpAfma6::vpAfma6ToolType	tool,
		vpCameraParameters::vpCameraParametersProjType	proj_model = `vpCameraParameters::perspectiveProjWithoutDistortion`
	)

Get the constant parameters related to the robot kinematics and to the end-effector to camera transformation (eMc) corresponding to the camera extrinsic parameters. These last parameters depend on the camera and projection model in use.

Parameters

tool	: Camera in use.
proj_model	: Projection model of the camera.

Definition at line 243 of file vpAfma6.cpp.

References _eMc, _erc, _etc, vpHomogeneousMatrix::buildFrom(), CONST_AFMA6_FILENAME, CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME, CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME, CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME, CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME, CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME, CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME, CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME, CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME, init(), vpCameraParameters::perspectiveProjWithDistortion, vpCameraParameters::perspectiveProjWithoutDistortion, projModel, vpMath::rad(), setToolType(), TOOL_CCMOP, TOOL_GENERIC_CAMERA, TOOL_GRIPPER, TOOL_VACUUM, and vpERROR_TRACE.

void vpAfma6::parseConfigFile ( const char * filename )

This function gets the robot constant parameters from a file.

Warning: This function is only available if the macro VISP_HAVE_ACCESS_TO_NAS is defined in vpConfig.h.

Parameters

filename : File name containing the robot constant parameters, like max/min joint values, distance between 5 and 6 axis, coupling factor between axis 5 and 6, and the hand-to-eye homogeneous matrix.

Definition at line 1070 of file vpAfma6.cpp.

References _coupl_56, _eMc, _erc, _etc, _joint_max, _joint_min, _long_56, vpHomogeneousMatrix::buildFrom(), vpRobotException::readingParametersError, and vpERROR_TRACE.

Referenced by init().

void vpAfma6::setToolType ( vpAfma6::vpAfma6ToolType tool )

inlineprotected

Set the current tool type.

Definition at line 170 of file vpAfma6.h.

Referenced by init(), vpSimulatorAfma6::init(), and vpRobotAfma6::init().

Friends And Related Function Documentation

VISP_EXPORT std::ostream& operator<<	(	std::ostream &	os,
		const vpAfma6 &	afma6
	)

friend

Print on the output stream os the robot parameters (joint min/max, distance between axis 5 and 6, coupling factor between axis 5 and 6, hand-to-eye homogeneous matrix.

Parameters

os	: Output stream.
afma6	: Robot parameters.

Definition at line 1528 of file vpAfma6.cpp.

Member Data Documentation

double vpAfma6::_coupl_56

protected

Definition at line 180 of file vpAfma6.h.

Referenced by get_eJe(), get_fJe(), get_fMe(), getCoupl56(), getInverseKinematics(), vpRobotAfma6::init(), parseConfigFile(), and vpAfma6().

vpHomogeneousMatrix vpAfma6::_eMc

protected

Definition at line 188 of file vpAfma6.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), get_cMe(), get_fMc(), getInverseKinematics(), vpSimulatorAfma6::getVelocity(), init(), vpSimulatorAfma6::init(), parseConfigFile(), and vpAfma6().

vpRxyzVector vpAfma6::_erc

protected

Definition at line 186 of file vpAfma6.h.

Referenced by init(), vpSimulatorAfma6::init(), vpRobotAfma6::init(), and parseConfigFile().

vpTranslationVector vpAfma6::_etc

protected

Definition at line 185 of file vpAfma6.h.

Referenced by init(), vpSimulatorAfma6::init(), vpRobotAfma6::init(), and parseConfigFile().

double vpAfma6::_joint_max[6]

protected

Definition at line 182 of file vpAfma6.h.

Referenced by getInverseKinematics(), getJointMax(), vpSimulatorAfma6::init(), vpRobotAfma6::init(), vpSimulatorAfma6::isInJointLimit(), parseConfigFile(), vpSimulatorAfma6::setJointLimit(), vpSimulatorAfma6::updateArticularPosition(), and vpAfma6().

double vpAfma6::_joint_min[6]

protected

Definition at line 183 of file vpAfma6.h.

Referenced by getInverseKinematics(), getJointMin(), vpSimulatorAfma6::init(), vpRobotAfma6::init(), vpSimulatorAfma6::isInJointLimit(), parseConfigFile(), vpSimulatorAfma6::setJointLimit(), vpSimulatorAfma6::updateArticularPosition(), and vpAfma6().

double vpAfma6::_long_56

protected

Definition at line 181 of file vpAfma6.h.

Referenced by vpSimulatorAfma6::compute_fMi(), get_eJe(), get_fJe(), get_fMe(), getInverseKinematics(), getLong56(), vpRobotAfma6::init(), parseConfigFile(), and vpAfma6().

const char *const vpAfma6::CONST_AFMA6_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_Afma6.cnf"

static

File where constant parameters in relation with the robot are stored: joint max, min, coupling factor between 4 ant 5 joint, distance between 5 and 6 joint, tranformation eMc between end-effector and camera frame.

Definition at line 72 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_CAMERA_AFMA6_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml"

static

Definition at line 81 of file vpAfma6.h.

Referenced by getCameraParameters().

const char *const vpAfma6::CONST_CCMOP_CAMERA_NAME = "Dragonfly2-8mm-ccmop"

static

Name of the camera attached to the CCMOP tool (vpAfma6ToolType::TOOL_CCMOP).

Definition at line 86 of file vpAfma6.h.

Referenced by getCameraParameters(), and vpSimulatorAfma6::getCameraParameters().

const char *const vpAfma6::CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_ccmop_with_distortion_Afma6.cnf"

static

Definition at line 74 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_ccmop_without_distortion_Afma6.cnf"

static

Definition at line 73 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_generic_with_distortion_Afma6.cnf"

static

Definition at line 80 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_generic_without_distortion_Afma6.cnf"

static

Definition at line 79 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_gripper_with_distortion_Afma6.cnf"

static

Definition at line 76 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_gripper_without_distortion_Afma6.cnf"

static

Definition at line 75 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_vacuum_with_distortion_Afma6.cnf"

static

Definition at line 78 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME = "/udd/fspindle/robot/Afma6/current/include/const_eMc_vacuum_without_distortion_Afma6.cnf"

static

Definition at line 77 of file vpAfma6.h.

Referenced by init().

const char *const vpAfma6::CONST_GENERIC_CAMERA_NAME = "Generic-camera"

static

Name of the generic camera attached to the robot hand (vpAfma6ToolType::TOOL_GENERIC_CAMERA).

Definition at line 101 of file vpAfma6.h.

Referenced by getCameraParameters().

const char *const vpAfma6::CONST_GRIPPER_CAMERA_NAME = "Dragonfly2-6mm-gripper"

static

Name of the camera attached to the 2 fingers gripper tool (vpAfma6ToolType::TOOL_GRIPPER).

Definition at line 91 of file vpAfma6.h.