Visual Servoing Platform  version 3.0.0

#include <visp3/robot/vpRobot.h>

+ Inheritance diagram for vpRobot:

Public Types

enum  vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }
 
enum  vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, CAMERA_FRAME, MIXT_FRAME }
 

Public Member Functions

 vpRobot (void)
 
 vpRobot (const vpRobot &robot)
 
virtual ~vpRobot ()
 
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
 
vpColVector getPosition (const vpRobot::vpControlFrameType frame)
 
virtual vpRobotStateType getRobotState (void) const
 
virtual void init ()=0
 
vpRobotoperator= (const vpRobot &robot)
 
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
 
void setVerbose (bool verbose)
 

Static Public Member Functions

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

Protected Member Functions

vpControlFrameType setRobotFrame (vpRobot::vpControlFrameType newFrame)
 
vpControlFrameType getRobotFrame (void) const
 

Protected Attributes

double maxTranslationVelocity
 
double maxRotationVelocity
 
int nDof
 
vpMatrix eJe
 
int eJeAvailable
 
vpMatrix fJe
 
int fJeAvailable
 
int areJointLimitsAvailable
 
double * qmin
 
double * qmax
 
bool verbose_
 

Static Protected Attributes

static const double maxTranslationVelocityDefault = 0.2
 
static const double maxRotationVelocityDefault = 0.7
 

Detailed Description

class that defines a generic virtual robot

Definition at line 58 of file vpRobot.h.

Member Enumeration Documentation

Robot control frames.

Enumerator
REFERENCE_FRAME 

Corresponds to a fixed reference frame attached to the robot structure.

ARTICULAR_FRAME 

Corresponds to the joint space.

CAMERA_FRAME 

Corresponds to a frame attached to the camera mounted on the robot end-effector.

MIXT_FRAME 

Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 76 of file vpRobot.h.

Robot control states.

Enumerator
STATE_STOP 

Stops robot motion especially in velocity and acceleration control.

STATE_VELOCITY_CONTROL 

Initialize the velocity controller.

STATE_POSITION_CONTROL 

Initialize the position controller.

STATE_ACCELERATION_CONTROL 

Initialize the acceleration controller.

Definition at line 64 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobot::vpRobot ( void  )

Definition at line 50 of file vpRobot.cpp.

vpRobot::vpRobot ( const vpRobot robot)

Definition at line 61 of file vpRobot.cpp.

vpRobot::~vpRobot ( )
virtual

Destructor that free allocated memory.

Definition at line 76 of file vpRobot.cpp.

References qmax, and qmin.

Member Function Documentation

virtual void vpRobot::get_eJe ( vpMatrix _eJe)
pure virtual
virtual void vpRobot::get_fJe ( vpMatrix _fJe)
pure virtual

Get the robot Jacobian expressed in the robot reference (or world) frame.

Implemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

virtual void vpRobot::getDisplacement ( const vpRobot::vpControlFrameType  frame,
vpColVector q 
)
pure virtual

Get a displacement (frame as to ve specified) between two successive position control.

Implemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

double vpRobot::getMaxTranslationVelocity ( void  ) const
virtual void vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame,
vpColVector q 
)
pure virtual
vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame)

Return the current robot position in the specified frame.

Definition at line 218 of file vpRobot.cpp.

vpControlFrameType vpRobot::getRobotFrame ( void  ) const
inlineprotected
vpRobot & vpRobot::operator= ( const vpRobot robot)
vpColVector vpRobot::saturateVelocities ( const vpColVector v_in,
const vpColVector v_max,
bool  verbose = false 
)
static

Saturate velocities.

Parameters
v_in: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose: Print a message indicating which axis causes the saturation.
Returns
Saturated velocities.
Exceptions
vpRobotException::dimensionError: If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
// Set a velocity skew vector
v[0] = 0.1; // vx in m/s
v[1] = 0.2; // vy
v[2] = 0.3; // vz
v[3] = vpMath::rad(10); // wx in rad/s
v[4] = vpMath::rad(-10); // wy
v[5] = vpMath::rad(20); // wz
// Set the maximal allowed velocities
vpColVector v_max(6);
for (int i=0; i<3; i++)
v_max[i] = 0.3; // in translation (m/s)
for (int i=3; i<6; i++)
v_max[i] = vpMath::rad(10); // in rotation (rad/s)
// Compute the saturated velocity skew vector
vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
std::cout << "v : " << v.t() << std::endl;
std::cout << "v max: " << v_max.t() << std::endl;
std::cout << "v sat: " << v_sat.t() << std::endl;
return 0;
}

Definition at line 163 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper850::setVelocity(), and vpRobotViper650::setVelocity().

void vpRobot::setMaxRotationVelocity ( const double  w_max)

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters
w_max: Maximum rotation velocity expressed in rad/s.
Examples:
servoMomentPoints.cpp, servoSimu4Points.cpp, and servoSimuSphere.cpp.

Definition at line 262 of file vpRobot.cpp.

Referenced by vpRobotViper850::setMaxRotationVelocity(), vpRobotViper650::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

void vpRobot::setMaxTranslationVelocity ( const double  v_max)

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters
v_max: Maximum translation velocity expressed in m/s.
Examples:
servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 238 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

virtual void vpRobot::setPosition ( const vpRobot::vpControlFrameType  frame,
const vpColVector q 
)
pure virtual

Set a displacement (frame has to be specified) in position control.

Implemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

virtual void vpRobot::setVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector vel 
)
pure virtual

Set the velocity (frame has to be specified) that will be applied to the velocity controller.

Implemented in vpRobotViper650, vpRobotViper850, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotBiclops, vpRobotPioneer, vpRobotPtu46, vpSimulatorPioneerPan, vpRobotCamera, vpSimulatorPioneer, vpSimulatorCamera, and vpRobotTemplate.

Member Data Documentation

int vpRobot::areJointLimitsAvailable
protected

Definition at line 109 of file vpRobot.h.

Referenced by operator=().

vpMatrix vpRobot::eJe
protected

robot Jacobian expressed in the end-effector frame

Definition at line 101 of file vpRobot.h.

Referenced by vpSimulatorCamera::get_eJe(), vpRobotCamera::get_eJe(), operator=(), and vpRobotAfma4::setVelocity().

int vpRobot::eJeAvailable
protected

is the robot Jacobian expressed in the end-effector frame available

Definition at line 103 of file vpRobot.h.

Referenced by operator=().

vpMatrix vpRobot::fJe
protected

robot Jacobian expressed in the robot reference frame available

Definition at line 105 of file vpRobot.h.

Referenced by operator=().

int vpRobot::fJeAvailable
protected

is the robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

Referenced by operator=().

double vpRobot::maxRotationVelocity
protected
const double vpRobot::maxRotationVelocityDefault = 0.7
staticprotected

Definition at line 96 of file vpRobot.h.

double vpRobot::maxTranslationVelocity
protected

Definition at line 93 of file vpRobot.h.

Referenced by operator=().

const double vpRobot::maxTranslationVelocityDefault = 0.2
staticprotected

Definition at line 94 of file vpRobot.h.

int vpRobot::nDof
protected

number of degrees of freedom

Definition at line 99 of file vpRobot.h.

Referenced by operator=().

double* vpRobot::qmax
protected

Definition at line 111 of file vpRobot.h.

Referenced by operator=(), and ~vpRobot().

double* vpRobot::qmin
protected

Definition at line 110 of file vpRobot.h.

Referenced by operator=(), and ~vpRobot().