#include <visp3/robot/vpSimulatorAfma6.h>

Inheritance diagram for vpSimulatorAfma6:

Public Types
enum	vpDisplayRobotType { MODEL_3D, MODEL_DH }

enum	vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }

enum	vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, CAMERA_FRAME, MIXT_FRAME }

enum	vpAfma6ToolType { TOOL_CCMOP, TOOL_GRIPPER, TOOL_VACUUM, TOOL_GENERIC_CAMERA }

Public Member Functions
	vpSimulatorAfma6 ()

	vpSimulatorAfma6 (bool display)

virtual	~vpSimulatorAfma6 ()

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

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

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

void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &displacement)

void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)

void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp)

void	getPosition (const vpRobot::vpControlFrameType frame, vpPoseVector &position)

void	getPosition (const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp)

double	getPositioningVelocity (void)

void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &q)

void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp)

vpColVector	getVelocity (const vpRobot::vpControlFrameType frame)

vpColVector	getVelocity (const vpRobot::vpControlFrameType frame, double &timestamp)

void	get_cMe (vpHomogeneousMatrix &cMe)

void	get_cVe (vpVelocityTwistMatrix &cVe)

void	get_eJe (vpMatrix &eJe)

void	get_fJe (vpMatrix &fJe)

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

bool	initialiseCameraRelativeToObject (const vpHomogeneousMatrix &cMo)

void	initialiseObjectRelativeToCamera (const vpHomogeneousMatrix &cMo)

void	move (const char *filename)

void	setCameraParameters (const vpCameraParameters &cam)

void	setJointLimit (const vpColVector &limitMin, const vpColVector &limitMax)

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

void	setPosition (const vpRobot::vpControlFrameType frame, const double pos1, const double pos2, const double pos3, const double pos4, const double pos5, const double pos6)

void	setPosition (const char *filename)

void	setPositioningVelocity (const double vel)

bool	setPosition (const vpHomogeneousMatrix &cdMo, vpImage< unsigned char > *Iint=NULL, const double &errMax=0.001)

vpRobot::vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &velocity)

void	stopMotion ()

vpCameraParameters	getExternalCameraParameters () const

vpHomogeneousMatrix	getExternalCameraPosition () const

void	getInternalView (vpImage< vpRGBa > &I)

void	getInternalView (vpImage< unsigned char > &I)

vpHomogeneousMatrix	get_cMo ()

vpHomogeneousMatrix	get_fMo () const

void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)

void	initScene (const char obj, const char desiredObject)

void	initScene (const vpSceneObject &obj)

void	initScene (const char *obj)

void	setCameraColor (const vpColor col)

void	setConstantSamplingTimeMode (const bool _constantSamplingTimeMode)

void	setCurrentViewColor (const vpColor col)

void	setDesiredViewColor (const vpColor col)

void	setDesiredCameraPosition (const vpHomogeneousMatrix cdMo_)

void	setDisplayRobotType (const vpDisplayRobotType dispType)

void	setExternalCameraPosition (const vpHomogeneousMatrix camMf_)

void	setGraphicsThickness (unsigned int thickness)

void	setSamplingTime (const double &delta_t)

void	setSingularityManagement (const bool sm)

void	setVerbose (bool verbose)

void	set_fMo (const vpHomogeneousMatrix &fMo_)

void	getExternalImage (vpImage< unsigned char > &I)

void	getExternalImage (vpImage< unsigned char > &I, const vpHomogeneousMatrix &camMf)

void	getExternalImage (vpImage< vpRGBa > &I, const vpHomogeneousMatrix &camMf)

double	getSamplingTime () const

double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

virtual vpRobotStateType	getRobotState (void) const

void	setMaxRotationVelocity (const double maxVr)

void	setMaxTranslationVelocity (const double maxVt)

void	init (const char paramAfma6, const char paramCamera)

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_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const

void	get_fMe (const vpColVector &q, vpHomogeneousMatrix &fMe) 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 Member Functions
static bool	readPosFile (const char *filename, vpColVector &q)

static bool	savePosFile (const char *filename, const vpColVector &q)

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

Public Attributes
vpImage< vpRGBa >	I

Static Public Attributes
static const double	defaultPositioningVelocity = 25.0

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 Types
enum	vpSceneObject { THREE_PTS, CUBE, PLATE, SMALL_PLATE, RECTANGLE, SQUARE_10CM, DIAMOND, TRAPEZOID, THREE_LINES, ROAD, TIRE, PIPE, CIRCLE, SPHERE, CYLINDER, PLAN, POINT_CLOUD }

enum	vpSceneDesiredObject { D_STANDARD, D_CIRCLE, D_TOOL }

enum	vpCameraTrajectoryDisplayType { CT_LINE, CT_POINT }

Protected Member Functions
void	computeArticularVelocity ()

void	compute_fMi ()

void	findHighestPositioningSpeed (vpColVector &q)

void	getExternalImage (vpImage< vpRGBa > &I)

void	get_fMi (vpHomogeneousMatrix *fMit)

void	init ()

void	initArms ()

void	initDisplay ()

int	isInJointLimit (void)

bool	singularityTest (const vpColVector q, vpMatrix &J)

void	updateArticularPosition ()

vpCameraParameters	getExternalCameraParameters (const vpImage< unsigned char > &I) const

vpCameraParameters	getExternalCameraParameters (const vpImage< vpRGBa > &I) const

vpHomogeneousMatrix	get_cMo () const

void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject, const std::list< vpImageSimulator > &imObj)

void	initScene (const char obj, const char desiredObject, const std::list< vpImageSimulator > &imObj)

void	initScene (const vpSceneObject &obj, const std::list< vpImageSimulator > &imObj)

void	initScene (const char *obj, const std::list< vpImageSimulator > &imObj)

void	setCameraColor (const vpColor &col)

void	setCurrentViewColor (const vpColor &col)

void	setDesiredViewColor (const vpColor &col)

void	setDesiredCameraPosition (const vpHomogeneousMatrix &cdMo_)

void	setExternalCameraPosition (const vpHomogeneousMatrix &cam_Mf)

vpColVector	get_artCoord ()

void	set_artCoord (const vpColVector &coord)

vpColVector	get_artVel ()

void	set_artVel (const vpColVector &vel)

vpColVector	get_velocity ()

void	set_velocity (const vpColVector &vel)

void	set_displayBusy (const bool &status)

bool	get_displayBusy ()

void	deleteCameraPositionHistory ()

void	displayTrajectory (const vpImage< unsigned char > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)

void	displayTrajectory (const vpImage< vpRGBa > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)

vpCameraParameters	getInternalCameraParameters (const vpImage< unsigned char > &I) const

vpCameraParameters	getInternalCameraParameters (const vpImage< vpRGBa > &I) const

void	getInternalImage (vpImage< unsigned char > &I)

void	getInternalImage (vpImage< vpRGBa > &I)

void	get_cMo_History (std::list< vpHomogeneousMatrix > &cMo_history)

void	get_fMo_History (std::list< vpHomogeneousMatrix > &fMo_history)

void	setCameraPositionRelObj (const vpHomogeneousMatrix &cMo_)

void	setCameraPositionRelWorld (const vpHomogeneousMatrix &fMc_)

void	setCameraSizeFactor (const float factor)

void	setCameraTrajectoryColor (const vpColor &col)

void	setCameraTrajectoryDisplayType (const vpCameraTrajectoryDisplayType &camTraj_type)

void	setDisplayCameraTrajectory (const bool &do_display)

void	setExternalCameraParameters (const vpCameraParameters &cam)

void	setInternalCameraParameters (const vpCameraParameters &cam)

void	setNbPtTrajectory (const unsigned int nbPt)

void	display_scene (Matrix mat, Bound_scene &sc, const vpImage< vpRGBa > &I, const vpColor &color)

void	display_scene (Matrix mat, Bound_scene &sc, const vpImage< unsigned char > &I, const vpColor &color)

vpHomogeneousMatrix	navigation (const vpImage< vpRGBa > &I, bool &changed)

vpHomogeneousMatrix	navigation (const vpImage< unsigned char > &I, bool &changed)

vpImagePoint	projectCameraTrajectory (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)

vpImagePoint	projectCameraTrajectory (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo)

vpImagePoint	projectCameraTrajectory (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)

vpImagePoint	projectCameraTrajectory (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpHomogeneousMatrix &fMo, const vpHomogeneousMatrix &cMf)

vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void) const

void	setToolType (vpAfma6::vpAfma6ToolType tool)

Static Protected Member Functions
static void *	launcher (void *arg)

Protected Attributes
double	tcur

double	tprev

Bound_scene *	robotArms

unsigned int	size_fMi

vpHomogeneousMatrix *	fMi

vpColVector	artCoord

vpColVector	artVel

vpColVector	velocity

pthread_t	thread

pthread_attr_t	attr

pthread_mutex_t	mutex_fMi

pthread_mutex_t	mutex_artVel

pthread_mutex_t	mutex_artCoord

pthread_mutex_t	mutex_velocity

pthread_mutex_t	mutex_display

bool	displayBusy

bool	robotStop

bool	jointLimit

unsigned int	jointLimitArt

bool	singularityManagement

vpCameraParameters	cameraParam

vpDisplayX	display

vpDisplayRobotType	displayType

bool	displayAllowed

bool	constantSamplingTimeMode

bool	setVelocityCalled

bool	verbose_

Bound_scene	scene

Bound_scene	desiredScene

Bound_scene	camera

std::list< vpImageSimulator >	objectImage

vpHomogeneousMatrix	fMo

vpHomogeneousMatrix	fMc

vpHomogeneousMatrix	camMf

vpHomogeneousMatrix	refMo

vpHomogeneousMatrix	cMo

vpHomogeneousMatrix	cdMo

vpSceneObject	object

vpSceneDesiredObject	desiredObject

vpColor	camColor

vpColor	camTrajColor

vpColor	curColor

vpColor	desColor

bool	sceneInitialized

bool	displayCameraTrajectory

std::list< vpImagePoint >	cameraTrajectory

std::list< vpHomogeneousMatrix >	poseList

std::list< vpHomogeneousMatrix >	fMoList

unsigned int	nbrPtLimit

vpImagePoint	old_iPr

vpImagePoint	old_iPz

vpImagePoint	old_iPt

bool	blockedr

bool	blockedz

bool	blockedt

bool	blocked

vpHomogeneousMatrix	camMf2

vpHomogeneousMatrix	f2Mf

double	px_int

double	py_int

double	px_ext

double	py_ext

bool	displayObject

bool	displayDesiredObject

bool	displayCamera

bool	displayImageSimulator

float	cameraFactor

vpCameraTrajectoryDisplayType	camTrajType

bool	extCamChanged

vpHomogeneousMatrix	rotz

unsigned int	thickness_

double	delta_t_

double	maxTranslationVelocity

double	maxRotationVelocity

int	nDof

vpMatrix	eJe

int	eJeAvailable

vpMatrix	fJe

int	fJeAvailable

int	areJointLimitsAvailable

double *	qmin

double *	qmax

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

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2

static const double	maxRotationVelocityDefault = 0.7

Detailed Description

Simulator of Irisa's gantry robot named Afma6.

Implementation of the vpRobotWireFrameSimulator class in order to simulate Irisa's Afma6 robot. This robot is a gantry robot with six degrees of freedom manufactured in 1992 by the french Afma-Robots company.

Warning: This class uses threading capabilities. Thus on Unix-like platforms, the libpthread third-party library need to be installed. On Windows, we use the native threading capabilities.

This class allows to control the Afma6 gantry robot in position and velocity:

in the joint space (vpRobot::ARTICULAR_FRAME),
in the fixed reference frame (vpRobot::REFERENCE_FRAME),
in the camera frame (vpRobot::CAMERA_FRAME),
or in a mixed frame (vpRobot::MIXT_FRAME) where translations are expressed in the reference frame and rotations in the camera frame.

All the translations are expressed in meters for positions and m/s for the velocities. Rotations are expressed in radians for the positions, and rad/s for the rotation velocities.

The direct and inverse kinematics models are implemented in the vpAfma6 class.

To control the robot in position, you may set the controller to position control and then send the position to reach in a specific frame like here in the joint space:

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMath.h>
int main()
{
  vpSimulatorAfma6 robot;
  
  robot.init(vpAfma6::TOOL_CCMOP, vpCameraParameters::perspectiveProjWithoutDistortion);
  vpColVector q(6);
  // Set a joint position
  q[0] = 0.1;             // Joint 1 position, in meter
  q[1] = 0.2;             // Joint 2 position, in meter
  q[2] = 0.3;             // Joint 3 position, in meter
  q[3] = M_PI/8;          // Joint 4 position, in rad
  q[4] = M_PI/4;          // Joint 5 position, in rad
  q[5] = M_PI;            // Joint 6 position, in rad
  // Initialize the controller to position control
  robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
  // Moves the robot in the joint space
  robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
  
  return 0;
}

To control the robot in velocity, you may set the controller to velocity control and then send the velocities. To end the velocity control and stop the robot you have to set the controller to the stop state. Here is an example of a velocity control in the joint space:

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMath.h>
int main()
{
  vpSimulatorAfma6 robot;
  
  robot.init(vpAfma6::TOOL_GRIPPER, vpCameraParameters::perspectiveProjWithoutDistortion);
  vpColVector qvel(6);
  // Set a joint velocity
  qvel[0] = 0.1;             // Joint 1 velocity in m/s
  qvel[1] = 0.1;             // Joint 2 velocity in m/s
  qvel[2] = 0.1;             // Joint 3 velocity in m/s
  qvel[3] = M_PI/8;          // Joint 4 velocity in rad/s
  qvel[4] = 0;               // Joint 5 velocity in rad/s
  qvel[5] = 0;               // Joint 6 velocity in rad/s
  // Initialize the controller to position control
  robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
  for ( ; ; ) {
    // Apply a velocity in the joint space
    robot.setVelocity(vpRobot::ARTICULAR_FRAME, qvel);
    // Compute new velocities qvel...
  }
  // Stop the robot
  robot.setRobotState(vpRobot::STATE_STOP);
  
  return 0;
}

It is also possible to measure the robot current position with getPosition() method and the robot current velocities with the getVelocity() method.

For convenience, there is also the ability to read/write joint positions from a position file with readPosFile() and savePosFile() methods.

To know how this class can be used to achieve a visual servoing simulation, you can follow the Tutorial: Image-based visual servo.

Examples:: servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, and tutorial-ibvs-4pts-wireframe-robot-afma6.cpp.

Definition at line 176 of file vpSimulatorAfma6.h.

Member Enumeration Documentation

enum vpAfma6::vpAfma6ToolType

inherited

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.

enum vpWireFrameSimulator::vpCameraTrajectoryDisplayType

inherited

Enumerator
CT_LINE
CT_POINT

Definition at line 216 of file vpWireFrameSimulator.h.

enum vpRobot::vpControlFrameType

inherited

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.

enum vpRobotWireFrameSimulator::vpDisplayRobotType

inherited

Enumerator
MODEL_3D
MODEL_DH

Definition at line 89 of file vpRobotWireFrameSimulator.h.

enum vpRobot::vpRobotStateType

inherited

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.

enum vpWireFrameSimulator::vpSceneDesiredObject

inherited

Type of scene used to display the object at the desired pose (in the internal view).

D_STANDARD will use the vpSceneObject used to be the object at the current position.
D_OUTIL will display a tool which is attached to the camera.

Enumerator
D_STANDARD	The object displayed at the desired position is the same than the scene object defined in vpSceneObject.
D_CIRCLE	The object displayed at the desired position is a circle.
D_TOOL	A cylindrical tool is attached to the camera.

Definition at line 209 of file vpWireFrameSimulator.h.

enum vpWireFrameSimulator::vpSceneObject

inherited

Type of scene used to display the object at the current position.

Enumerator
THREE_PTS	A 40cm by 40cm plate with 3 points at coordinates (0,0,0), (0.1,0,0), (0,0.1,0). Each point is represented by a circle with 2cm radius.
CUBE	A 12.5cm size cube.
PLATE	A 40cm by 40cm plate with 4 points at coordinates (-0.1,-0.1,0), (0.1,-0.1,0), (0.1,0.1,0), (0.1,0.1,0). Each point is represented by a circle with 2cm radius.
SMALL_PLATE	4 points at coordinates (-0.03,-0.03,0), (0.03,-0.03,0), (0.03,0.03,0), (0.03,0.03,0). Each point is represented by a circle with 1cm radius.
RECTANGLE	A 40cm by 40cm plate with 4 points at coordinates (-0.07,-0.05,0), (0.07,0.05,0), (0.07,-0.05,0), (-0.07,-0.05,0). Each point is represented by a circle with 2cm radius.
SQUARE_10CM	A 40cm by 40cm plate with 4 points at coordinates (-0.05,0.05,0), (0.05,0.05,0), (0.05,-0.05,0), (-0.05,-0.05,0). Each point is represented by a circle with 2cm radius.
DIAMOND	A 40cm by 40cm plate with 4 points at coordinates (0,-0.1,0), (0.1,0,0), (0,0.1,0), (-0.1,0,0). Each point is represented by a circle with 2cm radius.
TRAPEZOID	A 40cm by 40cm plate with 4 points at coordinates (-0.025,-0.05,0), (-0.075,0.05,0), (0.075,0.05,0), (0.025,-0.05,0). Each point is represented by a circle with 2cm radius.
THREE_LINES	Three parallel lines with equation y=-5, y=0, y=5.
ROAD	Three parallel lines representing a road.
TIRE	A tire represented by 2 circles with radius 10cm and 15cm.
PIPE	A pipe represented by a cylinder of 25 cm length and 15cm radius.
CIRCLE	A 10cm radius circle.
SPHERE	A 15cm radius sphere.
CYLINDER	A cylinder of 80cm length and 10cm radius.
PLAN	A plane represented by a 56cm by 56cm plate with a grid of 49 squares inside.
POINT_CLOUD	A plate with 8 points at coordinates (0.05,0,0), (0.15,0.05,0), (0.2,0.2,0), (-0.05,0.2,0), (-0.15,-0.1,0), (-0.1,-0.1,0), (-0.05,0.05,0) and (0.5,0,0). ach point is represented by a circle with 2cm radius.

Definition at line 182 of file vpWireFrameSimulator.h.

Constructor & Destructor Documentation

vpSimulatorAfma6::vpSimulatorAfma6 ( )

Basic constructor

Definition at line 58 of file vpSimulatorAfma6.cpp.

References vpRobotWireFrameSimulator::attr, compute_fMi(), init(), initDisplay(), vpRobotWireFrameSimulator::launcher(), vpTime::measureTimeMs(), vpRobotWireFrameSimulator::mutex_artCoord, vpRobotWireFrameSimulator::mutex_artVel, vpRobotWireFrameSimulator::mutex_display, vpRobotWireFrameSimulator::mutex_fMi, vpRobotWireFrameSimulator::mutex_velocity, vpRobotWireFrameSimulator::tcur, and vpRobotWireFrameSimulator::thread.

vpSimulatorAfma6::vpSimulatorAfma6 ( bool do_display )

Constructor used to enable or disable the external view of the robot.

Parameters

do_display : When true, enables the display of the external view.

Definition at line 106 of file vpSimulatorAfma6.cpp.

References vpRobotWireFrameSimulator::attr, compute_fMi(), init(), initDisplay(), vpRobotWireFrameSimulator::launcher(), vpTime::measureTimeMs(), vpRobotWireFrameSimulator::mutex_artCoord, vpRobotWireFrameSimulator::mutex_artVel, vpRobotWireFrameSimulator::mutex_display, vpRobotWireFrameSimulator::mutex_fMi, vpRobotWireFrameSimulator::mutex_velocity, vpRobotWireFrameSimulator::tcur, and vpRobotWireFrameSimulator::thread.

vpSimulatorAfma6::~vpSimulatorAfma6 ( )

virtual

Basic destructor

Definition at line 151 of file vpSimulatorAfma6.cpp.

References vpRobotWireFrameSimulator::attr, vpRobotWireFrameSimulator::fMi, vpRobotWireFrameSimulator::mutex_artCoord, vpRobotWireFrameSimulator::mutex_artVel, vpRobotWireFrameSimulator::mutex_display, vpRobotWireFrameSimulator::mutex_fMi, vpRobotWireFrameSimulator::mutex_velocity, vpRobotWireFrameSimulator::robotArms, vpRobotWireFrameSimulator::robotStop, and vpRobotWireFrameSimulator::thread.

Member Function Documentation

void vpSimulatorAfma6::compute_fMi ( )

protected

Compute the pose between the robot reference frame and the frames used used to compute the Denavit-Hartenberg representation. The last element of the table corresponds to the pose between the reference frame and the camera frame.

To compute the diferent homogeneous matrices, this function needs the articular coordinates as input.

Finally the output is a table of 8 elements : $ fM1 $ , $ fM2 $ , $ fM3 $ , $ fM4 $ , $ fM5 $ , $ fM6 = fMw $ , $ fM7 = fMe $ and $ fMc $ - where w is for wrist and e for effector-.

Definition at line 626 of file vpSimulatorAfma6.cpp.

References vpAfma6::_long_56, vpRobotWireFrameSimulator::fMi, vpRobotWireFrameSimulator::get_artCoord(), vpAfma6::get_fMc(), and vpRobotWireFrameSimulator::mutex_fMi.

Referenced by initialiseCameraRelativeToObject(), updateArticularPosition(), and vpSimulatorAfma6().

void vpSimulatorAfma6::computeArticularVelocity ( )

protectedvirtual

Compute the articular velocity relative to the velocity in another frame.

Implements vpRobotWireFrameSimulator.

Definition at line 976 of file vpSimulatorAfma6.cpp.

References vpAfma6::_eMc, vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobotWireFrameSimulator::get_artCoord(), vpAfma6::get_eJe(), vpAfma6::get_fJe(), vpRobotWireFrameSimulator::get_velocity(), vpRobot::getMaxRotationVelocity(), vpRobot::getRobotFrame(), vpRobotWireFrameSimulator::jointLimit, vpRobot::MIXT_FRAME, vpMatrix::pseudoInverse(), vpRobot::REFERENCE_FRAME, vpRobotWireFrameSimulator::set_artVel(), vpRobotWireFrameSimulator::singularityManagement, singularityTest(), and vpERROR_TRACE.

Referenced by updateArticularPosition().

void vpWireFrameSimulator::deleteCameraPositionHistory ( )

inlineinherited

Delete the history of the main camera position which are displayed in the external views.

Definition at line 292 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::display_scene	(	Matrix	mat,
		Bound_scene &	sc,
		const vpImage< vpRGBa > &	I,
		const vpColor &	color
	)

protectedinherited

Definition at line 403 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpWireFrameSimulator::thickness_.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpRobotWireFrameSimulator::getInternalView().

void vpWireFrameSimulator::display_scene	(	Matrix	mat,
		Bound_scene &	sc,
		const vpImage< unsigned char > &	I,
		const vpColor &	color
	)

protectedinherited

Definition at line 452 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), and vpWireFrameSimulator::thickness_.

void vpWireFrameSimulator::displayTrajectory	(	const vpImage< unsigned char > &	I,
		const std::list< vpHomogeneousMatrix > &	list_cMo,
		const std::list< vpHomogeneousMatrix > &	list_fMo,
		const vpHomogeneousMatrix &	cMf
	)

inherited

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame.

Definition at line 1525 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpWireFrameSimulator::thickness_.

void vpWireFrameSimulator::displayTrajectory	(	const vpImage< vpRGBa > &	I,
		const std::list< vpHomogeneousMatrix > &	list_cMo,
		const std::list< vpHomogeneousMatrix > &	list_fMo,
		const vpHomogeneousMatrix &	cMf
	)

inherited

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world reference frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world reference frame.

Definition at line 1565 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camTrajColor, vpWireFrameSimulator::camTrajType, vpWireFrameSimulator::CT_LINE, vpWireFrameSimulator::CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpWireFrameSimulator::projectCameraTrajectory(), vpWireFrameSimulator::rotz, and vpWireFrameSimulator::thickness_.

void vpSimulatorAfma6::findHighestPositioningSpeed ( vpColVector & q )

protected

Definition at line 1246 of file vpSimulatorAfma6.cpp.

References vpRobot::getMaxRotationVelocity(), and getPositioningVelocity().

vpColVector vpRobotWireFrameSimulator::get_artCoord ( )

inlineprotectedinherited

vpColVector vpRobotWireFrameSimulator::get_artVel ( )

inlineprotectedinherited

Definition at line 436 of file vpRobotWireFrameSimulator.h.

Referenced by getVelocity(), vpSimulatorViper850::getVelocity(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpAfma6::get_cMe ( vpHomogeneousMatrix & cMe ) const

inherited

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 vpAfma6::_eMc, and vpHomogeneousMatrix::inverse().

Referenced by get_cMe(), vpRobotAfma6::get_cMe(), vpAfma6::get_cVe(), get_cVe(), and vpRobotAfma6::get_cVe().

void vpSimulatorAfma6::get_cMe ( vpHomogeneousMatrix & cMe )

Get the geometric transformation $^c{\bf M}_e$ 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 2199 of file vpSimulatorAfma6.cpp.

References vpAfma6::get_cMe().

Referenced by getExternalImage().

vpHomogeneousMatrix vpRobotWireFrameSimulator::get_cMo ( )

inherited

Get the pose between the object and the robot's camera.

Returns: The pose between the object and the fixed world frame.

Definition at line 359 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::fMo, vpRobotWireFrameSimulator::get_fMi(), vpHomogeneousMatrix::inverse(), and vpRobotWireFrameSimulator::size_fMi.

Referenced by setPosition().

vpHomogeneousMatrix vpWireFrameSimulator::get_cMo ( ) const

inlineinherited

Get the pose between the object and the camera.

Returns: The pose between between the object and the camera.

Definition at line 397 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::get_cMo_History ( std::list< vpHomogeneousMatrix > & cMo_history )

inlineinherited

Get the homogeneous matrices cMo stored to display the camera trajectory.

Parameters

cMo_history : The list of the homogeneous matrices cMo.

Definition at line 404 of file vpWireFrameSimulator.h.

void vpAfma6::get_cVe ( vpVelocityTwistMatrix & cVe ) const

inherited

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 vpAfma6::get_cMe().

void vpSimulatorAfma6::get_cVe ( vpVelocityTwistMatrix & cVe )

Get the twist transformation $^c{\bf V}_e$ 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 2212 of file vpSimulatorAfma6.cpp.

References vpVelocityTwistMatrix::buildFrom(), and vpAfma6::get_cMe().

bool vpRobotWireFrameSimulator::get_displayBusy ( )

inlineprotectedinherited

Definition at line 460 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::getInternalView(), init(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

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

inherited

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 vpAfma6::_coupl_56, vpAfma6::_long_56, and vpArray2D< Type >::resize().

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

void vpSimulatorAfma6::get_eJe ( vpMatrix & eJe_ )

virtual

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

To compute $^e{\bf J}_e$ , we communicate with the low level controller to get the joint position of the robot.

Parameters

eJe_	: Robot jacobian $^e{\bf J}_e$ expressed in the end-effector frame.

Implements vpRobot.

Definition at line 2230 of file vpSimulatorAfma6.cpp.

References vpRobotWireFrameSimulator::get_artCoord(), vpAfma6::get_eJe(), and vpERROR_TRACE.

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

inherited

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 vpAfma6::_coupl_56, vpAfma6::_long_56, and vpArray2D< Type >::resize().

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

void vpSimulatorAfma6::get_fJe ( vpMatrix & fJe_ )

virtual

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

To compute $^f{\bf J}_e$ , we communicate with the low level controller to get the joint position of the robot.

Parameters

fJe_	: Robot jacobian $^f{\bf J}_e$ expressed in the reference frame.

Implements vpRobot.

Definition at line 2254 of file vpSimulatorAfma6.cpp.

References vpRobotWireFrameSimulator::get_artCoord(), vpAfma6::get_fJe(), and vpERROR_TRACE.

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

inherited

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 compute_fMi(), vpRobotAfma6::getDisplacement(), vpAfma6::getForwardKinematics(), getPosition(), vpRobotAfma6::getPosition(), vpRobotAfma6::getVelocity(), setPosition(), and vpRobotAfma6::setPosition().

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

inherited

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 vpAfma6::_eMc, and vpAfma6::get_fMe().

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

inherited

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 vpAfma6::_coupl_56, and vpAfma6::_long_56.

Referenced by vpAfma6::get_fMc().

void vpSimulatorAfma6::get_fMi ( vpHomogeneousMatrix * fMit )

inlineprotectedvirtual

Get a table of poses between the reference frame and the frames you used to compute the Denavit-Hartenberg representation

Implements vpRobotWireFrameSimulator.

Definition at line 255 of file vpSimulatorAfma6.h.

Referenced by getExternalImage(), initialiseObjectRelativeToCamera(), and updateArticularPosition().

vpHomogeneousMatrix vpRobotWireFrameSimulator::get_fMo ( ) const

inlineinherited

Get the pose between the object and the fixed world frame.

Returns: The pose between the object and the fixed world frame.

Definition at line 240 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::fMo.

void vpWireFrameSimulator::get_fMo_History ( std::list< vpHomogeneousMatrix > & fMo_history )

inlineinherited

Get the homogeneous matrices fMo stored to display the camera trajectory.

Parameters

fMo_history : The list of the homogeneous matrices fMo.

Definition at line 423 of file vpWireFrameSimulator.h.

vpColVector vpRobotWireFrameSimulator::get_velocity ( )

inlineprotectedinherited

Definition at line 446 of file vpRobotWireFrameSimulator.h.

Referenced by computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

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

inherited

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 vpAfma6::CONST_CAMERA_AFMA6_FILENAME, vpAfma6::CONST_CCMOP_CAMERA_NAME, vpAfma6::CONST_GENERIC_CAMERA_NAME, vpAfma6::CONST_GRIPPER_CAMERA_NAME, vpAfma6::CONST_VACUUM_CAMERA_NAME, vpAfma6::getToolType(), vpCameraParameters::initPersProjWithDistortion(), vpCameraParameters::initPersProjWithoutDistortion(), vpXmlParserCamera::parse(), vpCameraParameters::perspectiveProjWithDistortion, vpCameraParameters::perspectiveProjWithoutDistortion, vpAfma6::projModel, vpRobotException::readingParametersError, vpXmlParserCamera::SEQUENCE_OK, vpAfma6::TOOL_CCMOP, vpAfma6::TOOL_GENERIC_CAMERA, vpAfma6::TOOL_GRIPPER, vpAfma6::TOOL_VACUUM, vpERROR_TRACE, and vpTRACE.

Referenced by vpAfma6::getCameraParameters().

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

inherited

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 vpAfma6::getCameraParameters(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

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

inherited

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 vpAfma6::getCameraParameters(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

void vpSimulatorAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const unsigned int &	image_width,
		const unsigned int &	image_height
	)

Get the current intrinsic camera parameters obtained by calibration.

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.

Warning: The image size must be : 640x480 !

Definition at line 400 of file vpSimulatorAfma6.cpp.

References vpAfma6::CONST_CCMOP_CAMERA_NAME, vpAfma6::CONST_GRIPPER_CAMERA_NAME, vpAfma6::getToolType(), vpCameraParameters::initPersProjWithoutDistortion(), vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpAfma6::TOOL_CCMOP, vpAfma6::TOOL_GENERIC_CAMERA, vpAfma6::TOOL_GRIPPER, vpAfma6::TOOL_VACUUM, vpERROR_TRACE, and vpTRACE.

Referenced by getCameraParameters(), and initDisplay().

void vpSimulatorAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const vpImage< unsigned char > &	I_
	)

Get the current intrinsic camera parameters obtained by calibration.

Parameters

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

Warning: The image size must be : 640x480 !

Definition at line 456 of file vpSimulatorAfma6.cpp.

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

void vpSimulatorAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const vpImage< vpRGBa > &	I_
	)

Get the current intrinsic camera parameters obtained by calibration.

Parameters

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

Warning: The image size must be : 640x480 !

Definition at line 471 of file vpSimulatorAfma6.cpp.

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

vpCameraParameters::vpCameraParametersProjType vpAfma6::getCameraParametersProjType ( ) const

inlineinherited

Get the current camera model projection type.

Definition at line 150 of file vpAfma6.h.

double vpAfma6::getCoupl56 ( ) const

inherited

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 vpAfma6::_coupl_56.

void vpSimulatorAfma6::getDisplacement	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	displacement
	)

virtual

Get the robot displacement since the last call of this method.

Warning: This functionnality is not implemented for the moment in the cartesian space. It is only available in the joint space (vpRobot::ARTICULAR_FRAME).

Parameters

frame	: The frame in which the measured displacement is expressed.
displacement	: The measured displacement since the last call of this method. The dimension of displacement is always Translations are expressed in meters, rotations in radians.

In camera or reference frame, rotations are expressed with the Euler Rxyz representation.

See also: getArticularDisplacement(), getCameraDisplacement()

Implements vpRobot.

Definition at line 1961 of file vpSimulatorAfma6.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobotWireFrameSimulator::get_artCoord(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, and vpColVector::resize().

vpCameraParameters vpRobotWireFrameSimulator::getExternalCameraParameters ( ) const

inlineinherited

Get the parameters of the virtual external camera.

Returns: It returns the camera parameters.

Definition at line 209 of file vpRobotWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< unsigned char > & I ) const

inlineinherited

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 307 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

Referenced by vpWireFrameSimulator::projectCameraTrajectory().

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inlineinherited

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 326 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

vpHomogeneousMatrix vpRobotWireFrameSimulator::getExternalCameraPosition ( ) const

inlineinherited

Get the external camera's position relative to the the world reference frame.

Returns: the main external camera position relative to the the world reference frame.

Definition at line 226 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::getExternalCameraPosition().

Referenced by updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpSimulatorAfma6::getExternalImage ( vpImage< vpRGBa > & I )

protected

void vpWireFrameSimulator::getExternalImage ( vpImage< unsigned char > & I )

inherited

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 1320 of file vpWireFrameSimulator.cpp.

void vpWireFrameSimulator::getExternalImage	(	vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cam_Mf
	)

inherited

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
cam_Mf	: The pose between the point of view and the fixed world frame.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1461 of file vpWireFrameSimulator.cpp.

void vpWireFrameSimulator::getExternalImage	(	vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cam_Mf
	)

inherited

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
cam_Mf	: The pose between the point of view and the fixed world frame.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1178 of file vpWireFrameSimulator.cpp.

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

inherited

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 vpAfma6::get_fMc().

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< unsigned char > & I ) const

inlineinherited

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 357 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::getInternalImage().

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inlineinherited

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 376 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

void vpWireFrameSimulator::getInternalImage ( vpImage< unsigned char > & I )

inherited

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 1242 of file vpWireFrameSimulator.cpp.

void vpWireFrameSimulator::getInternalImage ( vpImage< vpRGBa > & I )

inherited

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 957 of file vpWireFrameSimulator.cpp.

void vpRobotWireFrameSimulator::getInternalView ( vpImage< vpRGBa > & I_ )

inherited

Get the view of the camera's robot.

According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.

Parameters

I_	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 215 of file vpRobotWireFrameSimulator.cpp.

Referenced by setPosition().

void vpRobotWireFrameSimulator::getInternalView ( vpImage< unsigned char > & I_ )

inherited

Get the view of the camera's robot.

According to the initialisation method you used, the current position and maybee the desired position of the object are displayed.

Parameters

I_	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 288 of file vpRobotWireFrameSimulator.cpp.

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

inherited

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 vpAfma6::_coupl_56, vpAfma6::_eMc, vpAfma6::_joint_max, vpAfma6::_joint_min, vpAfma6::_long_56, vpMath::deg(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), vpAfma6::njoint, vpMath::rad(), vpColVector::resize(), and vpTRACE.

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

vpColVector vpAfma6::getJointMax ( ) const

inherited

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 vpAfma6::_joint_max.

vpColVector vpAfma6::getJointMin ( ) const

inherited

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 vpAfma6::_joint_min.

double vpAfma6::getLong56 ( ) const

inherited

Return the distance between join 5 and 6.

Returns: Distance between join 5 and 6.

Definition at line 1050 of file vpAfma6.cpp.

References vpAfma6::_long_56.

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

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

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 275 of file vpRobot.cpp.

Referenced by computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), setPosition(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPioneer::setVelocity(), setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper850::setVelocity(), and vpRobotViper650::setVelocity().

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

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

Returns: Maximum translation velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

Referenced by setPosition(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPioneer::setVelocity(), setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper850::setVelocity(), and vpRobotViper650::setVelocity().

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 218 of file vpRobot.cpp.

void vpSimulatorAfma6::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q
	)

virtual

Get the current position of the robot.

Parameters

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)

q

: 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 joint position of each dof in radians.
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). The code below show how to convert this position into a vpHomogeneousMatrix:

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpTranslationVector.h>
#include <visp3/core/vpRxyzVector.h>
#include <visp3/core/vpRotationMatrix.h>
#include <visp3/core/vpHomogeneousMatrix.h>
int main()
{
  vpSimulatorAfma6 robot;
  vpColVector position;
  robot.getPosition(vpRobot::REFERENCE_FRAME, position);
  vpTranslationVector ftc; // reference frame to camera frame translations
  vpRxyzVector frc; // reference frame to camera frame rotations
  // Update the transformation between reference frame and camera frame
  for (int i=0; i < 3; i++) {
    ftc[i] = position[i];   // tx, ty, tz
    frc[i] = position[i+3]; // ry, ry, rz
  }
  // Create a rotation matrix from the Rxyz rotation angles
  vpRotationMatrix fRc(frc); // reference frame to camera frame rotation matrix
  // Create the camera to fix frame transformation in terms of a
  // homogeneous matrix
  vpHomogeneousMatrix fMc(fRc, ftc);
}

See also: getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp); setPosition(const vpRobot::vpControlFrameType frame, const vpColVector & r)

Implements vpRobot.

Definition at line 1678 of file vpSimulatorAfma6.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpHomogeneousMatrix::extract(), vpRobotWireFrameSimulator::get_artCoord(), vpAfma6::get_fMc(), vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpERROR_TRACE.

Referenced by getPosition().

void vpSimulatorAfma6::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q,
		double &	timestamp
	)

Get the current time stamped position of the robot.

Parameters

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)
q	: 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 joint position of each dof in radians. 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). The code below show how to convert this position into a vpHomogeneousMatrix:
timestamp	: Unix time in second since January 1st 1970.

See also: getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)

Definition at line 1754 of file vpSimulatorAfma6.cpp.

References getPosition(), and vpTime::measureTimeSecond().

void vpSimulatorAfma6::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpPoseVector &	position
	)

Get the current position of the robot.

The difference is here that the position is returned using a ThetaU representation.

See also: getPosition(const vpRobot::vpControlFrameType frame, vpColVector &)

Definition at line 1772 of file vpSimulatorAfma6.cpp.

References getPosition().

void vpSimulatorAfma6::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpPoseVector &	position,
		double &	timestamp
	)

Get the current time stamped position of the robot.

The difference is here that the position is returned using a ThetaU representation.

Definition at line 1800 of file vpSimulatorAfma6.cpp.

References getPosition(), and vpTime::measureTimeSecond().

double vpSimulatorAfma6::getPositioningVelocity ( void )

inline

Definition at line 210 of file vpSimulatorAfma6.h.

Referenced by findHighestPositioningSpeed().

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 160 of file vpRobot.h.

Referenced by computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 138 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpRobotPtu46::setPosition(), vpRobotBiclops::setPosition(), setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotViper850::setPosition(), vpRobotViper650::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotViper850::setRobotState(), vpRobotViper650::setRobotState(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotBiclops::setVelocity(), setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper850::setVelocity(), vpRobotViper650::setVelocity(), stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotViper850::stopMotion(), and vpRobotViper650::stopMotion().

double vpRobotSimulator::getSamplingTime ( ) const

inlineinherited

Return the sampling time.

Returns: Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Examples:: tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, and tutorial-simu-pioneer-continuous-gain-constant.cpp.

Definition at line 80 of file vpRobotSimulator.h.

Referenced by updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

vpAfma6ToolType vpAfma6::getToolType ( ) const

inlineinherited

Get the current tool type.

Definition at line 146 of file vpAfma6.h.

Referenced by vpAfma6::getCameraParameters(), getCameraParameters(), and initArms().

void vpSimulatorAfma6::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	vel
	)

Get the robot velocities.

Parameters

frame	: Frame in wich velocities are mesured.
vel	: Measured velocities. Translations are expressed in m/s and rotations in rad/s.

Warning: In camera frame, reference frame and mixt frame, the representation of the rotation is ThetaU. In that cases, $velocity = [\dot x, \dot y, \dot z, \dot {\theta U}_x, \dot {\theta U}_y, \dot {\theta U}_z]$ .

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/core/vpColVector.h>
int main()
{
  // Set requested joint velocities
  vpColVector q_dot(6);
  q_dot[0] = 0.1;    // Joint 1 velocity in m/s
  q_dot[1] = 0.2;    // Joint 2 velocity in m/s
  q_dot[2] = 0.3;    // Joint 3 velocity in m/s
  q_dot[3] = M_PI/8; // Joint 4 velocity in rad/s
  q_dot[4] = M_PI/4; // Joint 5 velocity in rad/s
  q_dot[5] = M_PI/16;// Joint 6 velocity in rad/s
  vpSimulatorAfma6 robot;
  
  robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
  // Moves the joint in velocity
  robot.setVelocity(vpRobot::ARTICULAR_FRAME, q_dot);
  // Initialisation of the velocity measurement
  vpColVector q_dot_mes; // Measured velocities
  for ( ; ; ) {
    robot.getVelocity(vpRobot::ARTICULAR_FRAME, q_dot_mes);
     vpTime::wait(40); // wait 40 ms
     // here q_dot_mes is equal to [0.1, 0.2, 0.3, M_PI/8, M_PI/4, M_PI/16]
  }
}

Definition at line 1107 of file vpSimulatorAfma6.cpp.

References vpAfma6::_eMc, vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobotWireFrameSimulator::get_artCoord(), vpRobotWireFrameSimulator::get_artVel(), vpAfma6::get_eJe(), vpAfma6::get_fJe(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpERROR_TRACE.

Referenced by getVelocity().

void vpSimulatorAfma6::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	vel,
		double &	timestamp
	)

Get the robot time stamped velocities.

Parameters

frame	: Frame in wich velocities are mesured.
vel	: Measured velocities. Translations are expressed in m/s and rotations in rad/s.
timestamp	: Unix time in second since January 1st 1970.

Warning: In camera frame, reference frame and mixt frame, the representation of the rotation is ThetaU. In that cases, $velocity = [\dot x, \dot y, \dot z, \dot {\theta U}_x, \dot {\theta U}_y, \dot {\theta U}_z]$ .

See also: getVelocity(const vpRobot::vpControlFrameType frame, vpColVector & vel)

Definition at line 1166 of file vpSimulatorAfma6.cpp.

References getVelocity(), and vpTime::measureTimeSecond().

vpColVector vpSimulatorAfma6::getVelocity ( const vpRobot::vpControlFrameType frame )

Get the robot velocities.

Parameters

frame : Frame in wich velocities are mesured.

Returns: Measured velocities. Translations are expressed in m/s and rotations in rad/s.

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/core/vpColVector.h>
int main()
{
  // Set requested joint velocities
  vpColVector q_dot(6);
  q_dot[0] = 0.1;    // Joint 1 velocity in rad/s
  q_dot[1] = 0.2;    // Joint 2 velocity in rad/s
  q_dot[2] = 0.3;    // Joint 3 velocity in rad/s
  q_dot[3] = M_PI/8; // Joint 4 velocity in rad/s
  q_dot[4] = M_PI/4; // Joint 5 velocity in rad/s
  q_dot[5] = M_PI/16;// Joint 6 velocity in rad/s
  vpSimulatorAfma6 robot;
  
  robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
  // Moves the joint in velocity
  robot.setVelocity(vpRobot::ARTICULAR_FRAME, q_dot);
  // Initialisation of the velocity measurement
  vpColVector q_dot_mes; // Measured velocities
  for ( ; ; ) {
     q_dot_mes = robot.getVelocity(vpRobot::ARTICULAR_FRAME);
     vpTime::wait(40); // wait 40 ms
     // here q_dot_mes is equal to [0.1, 0.2, 0.3, M_PI/8, M_PI/4, M_PI/16]
  }
}

Definition at line 1215 of file vpSimulatorAfma6.cpp.

References getVelocity().

vpColVector vpSimulatorAfma6::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		double &	timestamp
	)

Get the time stamped robot velocities.

Parameters

frame	: Frame in wich velocities are mesured.
timestamp	: Unix time in second since January 1st 1970.

Returns: Measured velocities. Translations are expressed in m/s and rotations in rad/s.

See also: getVelocity(vpRobot::vpControlFrameType frame)

Definition at line 1236 of file vpSimulatorAfma6.cpp.

References getVelocity(), and vpTime::measureTimeSecond().

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

inherited

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 vpAfma6::parseConfigFile().

void vpSimulatorAfma6::init	(	vpAfma6::vpAfma6ToolType	tool,
		vpCameraParameters::vpCameraParametersProjType	proj_model = `vpCameraParameters::perspectiveProjWithoutDistortion`
	)

Initialize the robot kinematics with the extrinsic calibration parameters associated to a specific camera.

The eMc parameters depend on the camera.

Warning: Only perspective projection without distortion is available!

Parameters

tool	: Tool to use. Note that the generic camera is not handled.
proj_model	: Projection model associated to the camera.

See also: vpCameraParameters, init()

Definition at line 293 of file vpSimulatorAfma6.cpp.

References vpAfma6::_eMc, vpAfma6::_erc, vpAfma6::_etc, vpHomogeneousMatrix::buildFrom(), vpException::dimensionError, vpRobotWireFrameSimulator::get_displayBusy(), vpAfma6::projModel, vpMath::rad(), vpRobotWireFrameSimulator::robotArms, vpRobotWireFrameSimulator::set_displayBusy(), setCameraParameters(), vpAfma6::setToolType(), vpAfma6::TOOL_CCMOP, vpAfma6::TOOL_GENERIC_CAMERA, vpAfma6::TOOL_GRIPPER, vpAfma6::TOOL_VACUUM, and vpTime::wait().

void vpSimulatorAfma6::init ( void )

protectedvirtual

Method which initialises the parameters linked to the robot caracteristics.

Set the path to the arm files (*.bnd and *.sln) used by the simulator. If the path set in vpConfig.h in VISP_ROBOT_ARMS_DIR macro is not valid, the path is set from the VISP_ROBOT_ARMS_DIR environment variable that the user has to set.

Reimplemented from vpRobotWireFrameSimulator.

Definition at line 192 of file vpSimulatorAfma6.cpp.

References vpAfma6::_joint_max, vpAfma6::_joint_min, vpRobotWireFrameSimulator::artCoord, vpRobot::ARTICULAR_FRAME, vpRobotWireFrameSimulator::artVel, vpIoTools::checkDirectory(), defaultPositioningVelocity, vpRobotWireFrameSimulator::fMi, vpIoTools::getenv(), vpAfma6::njoint, vpColVector::resize(), vpRobot::setRobotFrame(), setRobotState(), vpRobotWireFrameSimulator::size_fMi, vpIoTools::splitChain(), vpRobot::STATE_STOP, and vpAfma6::TOOL_CCMOP.

Referenced by vpSimulatorAfma6().

void vpSimulatorAfma6::initArms ( )

protectedvirtual

Initialise the display of the robot's arms.

Set the path to the scene files (*.bnd and *.sln) used by the simulator. If the path set in vpConfig.h in VISP_SCENES_DIR macro is not valid, the path is set from the VISP_SCENES_DIR environment variable that the user has to set.

Implements vpRobotWireFrameSimulator.

Definition at line 2300 of file vpSimulatorAfma6.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::cameraFactor, vpIoTools::checkDirectory(), vpException::dimensionError, vpWireFrameSimulator::displayCamera, vpIoTools::getenv(), vpAfma6::getToolType(), vpRobotWireFrameSimulator::robotArms, vpIoTools::splitChain(), vpAfma6::TOOL_CCMOP, vpAfma6::TOOL_GENERIC_CAMERA, vpAfma6::TOOL_GRIPPER, and vpAfma6::TOOL_VACUUM.

Referenced by initDisplay().

void vpSimulatorAfma6::initDisplay ( )

protected

Method which initialises the parameters linked to the display part.

Definition at line 261 of file vpSimulatorAfma6.cpp.

References vpRobotWireFrameSimulator::cameraParam, vpCameraParameters::get_px(), vpCameraParameters::get_py(), getCameraParameters(), initArms(), vpCameraParameters::initPersProjWithoutDistortion(), vpWireFrameSimulator::px_int, vpWireFrameSimulator::py_int, vpMath::rad(), vpRobotWireFrameSimulator::robotArms, vpWireFrameSimulator::sceneInitialized, vpWireFrameSimulator::setExternalCameraParameters(), and vpRobotWireFrameSimulator::setExternalCameraPosition().

Referenced by vpSimulatorAfma6().

bool vpSimulatorAfma6::initialiseCameraRelativeToObject ( const vpHomogeneousMatrix & cMo_ )

This method enables to initialise the joint coordinates of the robot in order to position the camera relative to the object.

Before using this method it is advised to set the position of the object thanks to the set_fMo() method.

In other terms, set the world to camera transformation ${^f}{\bf M}_c = {^f}{\bf M}_o \; ({^c}{\bf M}_o)^{-1}$ , and from the inverse kinematics set the joint positions ${\bf q}$ that corresponds to the ${^f}{\bf M}_c$ transformation.

Parameters

cMo_	: the desired pose of the camera.

Returns: false if the robot kinematics is not able to reach the cMo position.

Definition at line 2497 of file vpSimulatorAfma6.cpp.

References compute_fMi(), vpWireFrameSimulator::fMo, vpRobotWireFrameSimulator::get_artCoord(), vpAfma6::getInverseKinematics(), vpHomogeneousMatrix::inverse(), vpRobotWireFrameSimulator::set_artCoord(), vpRobotWireFrameSimulator::set_artVel(), vpRobotWireFrameSimulator::set_velocity(), vpColVector::t(), vpRobotWireFrameSimulator::verbose_, and vpERROR_TRACE.

void vpSimulatorAfma6::initialiseObjectRelativeToCamera ( const vpHomogeneousMatrix & cMo_ )

This method enables to initialise the pose between the object and the reference frame, in order to position the object relative to the camera.

Before using this method it is advised to set the articular coordinates of the robot.

In other terms, set the world to object transformation ${^f}{\bf M}_o = {^f}{\bf M}_c \; {^c}{\bf M}_o$ where ${^f}{\bf M}_c = f({\bf q})$ with ${\bf q}$ the robot joint position

Parameters

cMo_	: the desired pose of the camera.

Definition at line 2538 of file vpSimulatorAfma6.cpp.

References vpWireFrameSimulator::fMo, get_fMi(), vpRobotWireFrameSimulator::set_artVel(), and vpRobotWireFrameSimulator::set_velocity().

void vpRobotWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object
	)

inherited

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.
desired_object	: Type of scene used to display the object at the desired pose (in the internal view).

Definition at line 128 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

void vpRobotWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desired_object
	)

inherited

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file. It is also possible to use a vrml (.wrl) file.

Parameters

obj	: Path to the scene file you want to use.
desired_object	: Path to the scene file you want to use.

Definition at line 151 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

void vpRobotWireFrameSimulator::initScene ( const vpSceneObject & obj )

inherited

Initialize the display. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.

Definition at line 172 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

void vpRobotWireFrameSimulator::initScene ( const char * obj )

inherited

Initialize the display. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to the .bnd file which is a scene file, or the vrml file.

Parameters

obj	: Path to the scene file you want to use.

Definition at line 193 of file vpRobotWireFrameSimulator.cpp.

References vpWireFrameSimulator::camera, vpWireFrameSimulator::displayCamera, and vpWireFrameSimulator::initScene().

void vpWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
desired_object	: Type of scene used to display the object at the desired pose (in the internal view).
imObj	: A list of vpImageSimulator instances.

Definition at line 692 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desired_object,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
desired_object	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 786 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

void vpWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
imObj	: A list of vpImageSimulator instances.

Definition at line 869 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const std::list< vpImageSimulator > &	imObj
	)

inherited

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 942 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::displayImageSimulator, vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::objectImage.

int vpSimulatorAfma6::isInJointLimit ( void )

protectedvirtual

Method used to check if the robot reached a joint limit.

Implements vpRobotWireFrameSimulator.

Definition at line 1870 of file vpSimulatorAfma6.cpp.

References vpAfma6::_joint_max, vpAfma6::_joint_min, and vpRobotWireFrameSimulator::get_artCoord().

Referenced by updateArticularPosition().

static void* vpRobotWireFrameSimulator::launcher ( void * arg )

inlinestaticprotectedinherited

Function used to launch the thread which moves the robot.

Definition at line 360 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().

void vpSimulatorAfma6::move ( const char * filename )

Moves the robot to the joint position specified in the filename.

Parameters

filename File containing a joint position.

See also: readPosFile

Definition at line 2173 of file vpSimulatorAfma6.cpp.

References vpRobot::ARTICULAR_FRAME, readPosFile(), setPosition(), setRobotState(), and vpRobot::STATE_POSITION_CONTROL.

vpHomogeneousMatrix vpWireFrameSimulator::navigation	(	const vpImage< vpRGBa > &	I,
		bool &	changed
	)

protectedinherited

Enables to change the external camera position.

Definition at line 1599 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::blocked, vpWireFrameSimulator::blockedr, vpWireFrameSimulator::blockedt, vpWireFrameSimulator::blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), vpWireFrameSimulator::old_iPr, vpWireFrameSimulator::old_iPt, vpWireFrameSimulator::old_iPz, and vpMath::rad().

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

vpHomogeneousMatrix vpWireFrameSimulator::navigation	(	const vpImage< unsigned char > &	I,
		bool &	changed
	)

protectedinherited

Enables to change the external camera position.

Definition at line 1693 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::blocked, vpWireFrameSimulator::blockedr, vpWireFrameSimulator::blockedt, vpWireFrameSimulator::blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), vpWireFrameSimulator::old_iPr, vpWireFrameSimulator::old_iPt, vpWireFrameSimulator::old_iPz, and vpMath::rad().

void vpAfma6::parseConfigFile ( const char * filename )

inherited

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 vpAfma6::_coupl_56, vpAfma6::_eMc, vpAfma6::_erc, vpAfma6::_etc, vpAfma6::_joint_max, vpAfma6::_joint_min, vpAfma6::_long_56, vpHomogeneousMatrix::buildFrom(), vpRobotException::readingParametersError, and vpERROR_TRACE.

Referenced by vpAfma6::init().

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1788 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1807 of file vpWireFrameSimulator.cpp.

References vpWireFrameSimulator::camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_,
		const vpHomogeneousMatrix &	cMf
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1827 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_,
		const vpHomogeneousMatrix &	cMf
	)

protectedinherited

Project the center of the internal camera into the external camera view.

Definition at line 1846 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), vpWireFrameSimulator::getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), vpWireFrameSimulator::rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

bool vpSimulatorAfma6::readPosFile	(	const char *	filename,
		vpColVector &	q
	)

static

Read joint positions in a specific Afma6 position file.

This position file has to start with a header. The six joint positions are given after the "R:" keyword. The first 3 values correspond to the joint translations X,Y,Z expressed in meters. The 3 last values correspond to the joint rotations A,B,C expressed in degres to be more representative for the user. Theses values are then converted in radians in q. The character "#" starting a line indicates a comment.

A typical content of such a file is given below:

#AFMA6 - Position - Version 2.01
# file: "myposition.pos "
#
# R: X Y Z A B C
# Joint position: X, Y, Z: translations in meters
#                 A, B, C: rotations in degrees
#
R: 0.1 0.3 -0.25 -80.5 80 0

Parameters

filename	: Name of the position file to read.
q	: Joint positions: X,Y,Z,A,B,C. Translations X,Y,Z are expressed in meters, while joint rotations A,B,C in radians.

Returns: true if the positions were successfully readen in the file. false, if an error occurs.

The code below shows how to read a position from a file and move the robot to this position.

vpSimulatorAfma6 robot;
vpColVector q;        // Joint position
robot.readPosFile("myposition.pos", q); // Set the joint position from the file
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
robot.setPositioningVelocity(5); // Positioning velocity set to 5%
robot.setPosition(vpRobot::ARTICULAR_FRAME, q); // Move to the joint position

See also: savePosFile()

Definition at line 2058 of file vpSimulatorAfma6.cpp.

References vpAfma6::njoint, vpMath::rad(), and vpColVector::resize().

Referenced by move(), and setPosition().

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = `false`
	)

staticinherited

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
  vpColVector v(6);
  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().

bool vpSimulatorAfma6::savePosFile	(	const char *	filename,
		const vpColVector &	q
	)

static

Save joint (articular) positions in a specific Afma6 position file.

This position file starts with a header on the first line. After convertion of the rotations in degrees, the joint position q is written on a line starting with the keyword "R: ". See readPosFile() documentation for an example of such a file.

Parameters

filename	: Name of the position file to create.
q	: Joint positions [X,Y,Z,A,B,C] to save in the filename. Translations X,Y,Z are expressed in meters, while rotations A,B,C in radians.

Warning: The joint rotations A,B,C written in the file are converted in degrees to be more representative for the user.

Returns: true if the positions were successfully saved in the file. false, if an error occurs.

See also: readPosFile()

Definition at line 2135 of file vpSimulatorAfma6.cpp.

References vpMath::deg().

void vpRobotWireFrameSimulator::set_artCoord ( const vpColVector & coord )

inlineprotectedinherited

Definition at line 431 of file vpRobotWireFrameSimulator.h.

Referenced by initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), setPosition(), vpSimulatorViper850::setPosition(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpRobotWireFrameSimulator::set_artVel ( const vpColVector & vel )

inlineprotectedinherited

Definition at line 441 of file vpRobotWireFrameSimulator.h.

Referenced by computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), setPosition(), vpSimulatorViper850::setPosition(), stopMotion(), vpSimulatorViper850::stopMotion(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpRobotWireFrameSimulator::set_displayBusy ( const bool & status )

inlineprotectedinherited

Definition at line 456 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::getInternalView(), init(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

void vpRobotWireFrameSimulator::set_fMo ( const vpHomogeneousMatrix & fMo_ )

inlineinherited

Set the pose between the object and the fixed world frame.

Parameters

fMo_	: The pose between the object and the fixed world frame.

Definition at line 347 of file vpRobotWireFrameSimulator.h.

void vpRobotWireFrameSimulator::set_velocity ( const vpColVector & vel )

inlineprotectedinherited

Definition at line 451 of file vpRobotWireFrameSimulator.h.

Referenced by initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), initialiseObjectRelativeToCamera(), vpSimulatorViper850::initialiseObjectRelativeToCamera(), setPosition(), vpSimulatorViper850::setPosition(), setVelocity(), vpSimulatorViper850::setVelocity(), stopMotion(), and vpSimulatorViper850::stopMotion().

void vpRobotWireFrameSimulator::setCameraColor ( const vpColor col )

inlineinherited

Set the color used to display the camera in the external view.

Parameters

col	: The desired color.

Definition at line 253 of file vpRobotWireFrameSimulator.h.

void vpWireFrameSimulator::setCameraColor ( const vpColor & col )

inlineinherited

Set the color used to display the camera in the external view.

Parameters

col	: The desired color.

Examples:: wireframeSimulator.cpp.

Definition at line 440 of file vpWireFrameSimulator.h.

void vpSimulatorAfma6::setCameraParameters ( const vpCameraParameters & cam )

Set the intrinsic camera parameters.

Parameters

cam	: The desired camera parameters.

Definition at line 484 of file vpSimulatorAfma6.cpp.

References vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpWireFrameSimulator::px_int, and vpWireFrameSimulator::py_int.

Referenced by init().

void vpWireFrameSimulator::setCameraPositionRelObj ( const vpHomogeneousMatrix & cMo_ )

inlineinherited

Set the position of the camera relative to the object.

Parameters

cMo_	: The pose of the camera.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 446 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

void vpWireFrameSimulator::setCameraPositionRelWorld ( const vpHomogeneousMatrix & fMc_ )

inlineinherited

Set the position of the the world reference frame relative to the camera.

Parameters

fMc_	: The pose of the camera.

Definition at line 453 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

void vpWireFrameSimulator::setCameraSizeFactor ( const float factor )

inlineinherited

Set the parameter which enables to choose the size of the main camera in the external camera views. By default this parameter is set to 1.

Parameters

factor : The ration for the camera size.

Definition at line 460 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setCameraTrajectoryColor ( const vpColor & col )

inlineinherited

Set the color used to display the camera trajectory in the external view.

Parameters

col	: The desired color.

Definition at line 467 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setCameraTrajectoryDisplayType ( const vpCameraTrajectoryDisplayType & camTraj_type )

inlineinherited

Set the way to display the history of the main camera trajectory in the main external view. The choice is given between displaying lines and points.

Parameters

camTraj_type : The chosen way to display the camera trajectory.

Definition at line 474 of file vpWireFrameSimulator.h.

void vpRobotWireFrameSimulator::setConstantSamplingTimeMode ( const bool _constantSamplingTimeMode )

inlineinherited

Set the flag used to force the sampling time in the thread computing the robot's displacement to a constant value; see setSamplingTime(). It may be useful if the main thread (computing the features) is very time consuming. False by default.

Parameters

_constantSamplingTimeMode : The new value of the constantSamplingTimeMode flag.

Definition at line 263 of file vpRobotWireFrameSimulator.h.

void vpRobotWireFrameSimulator::setCurrentViewColor ( const vpColor col )

inlineinherited

Set the color used to display the object at the current position in the robot's camera view.

Parameters

col	: The desired color.

Definition at line 272 of file vpRobotWireFrameSimulator.h.

void vpWireFrameSimulator::setCurrentViewColor ( const vpColor & col )

inlineinherited

Set the color used to display the object at the current position.

Parameters

col	: The desired color.

Examples:: wireframeSimulator.cpp.

Definition at line 481 of file vpWireFrameSimulator.h.

void vpRobotWireFrameSimulator::setDesiredCameraPosition ( const vpHomogeneousMatrix cdMo_ )

inlineinherited

Set the desired position of the robot's camera relative to the object.

Parameters

cdMo_ : The desired pose of the camera.

Definition at line 286 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::setDesiredCameraPosition().

void vpWireFrameSimulator::setDesiredCameraPosition ( const vpHomogeneousMatrix & cdMo_ )

inlineinherited

Set the desired position of the camera relative to the object.

Parameters

cdMo_ : The desired pose of the camera.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 487 of file vpWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::setDesiredCameraPosition().

void vpRobotWireFrameSimulator::setDesiredViewColor ( const vpColor col )

inlineinherited

Set the color used to display the object at the desired position in the robot's camera view.

Parameters

col	: The desired color.

Definition at line 279 of file vpRobotWireFrameSimulator.h.

void vpWireFrameSimulator::setDesiredViewColor ( const vpColor & col )

inlineinherited

Set the color used to display the object at the desired position.

Parameters

col	: The desired color.

Examples:: wireframeSimulator.cpp.

Definition at line 493 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setDisplayCameraTrajectory ( const bool & do_display )

inlineinherited

Enable or disable the displaying of the camera trajectory in the main external camera view.

By default the trajectory is displayed.

Parameters

do_display : Set to true to display the camera trajectory.

Definition at line 501 of file vpWireFrameSimulator.h.

void vpRobotWireFrameSimulator::setDisplayRobotType ( const vpDisplayRobotType dispType )

inlineinherited

Set the way to draw the robot. Depending on what you choose you can display a 3D wireframe model or a set of lines linking the frames used to compute the geometrical model.

Parameters

dispType : Type of display. Can be MODEL_3D or MODEL_DH.

Definition at line 296 of file vpRobotWireFrameSimulator.h.

void vpWireFrameSimulator::setExternalCameraParameters ( const vpCameraParameters & cam )

inlineinherited

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 508 of file vpWireFrameSimulator.h.

References vpCameraParameters::get_px(), and vpCameraParameters::get_py().

Referenced by initDisplay(), and vpSimulatorViper850::initDisplay().

void vpRobotWireFrameSimulator::setExternalCameraPosition ( const vpHomogeneousMatrix camMf_ )

inlineinherited

Set the external camera point of view.

Parameters

camMf_ : The pose of the external camera relative to the world reference frame.

Definition at line 302 of file vpRobotWireFrameSimulator.h.

References vpWireFrameSimulator::setExternalCameraPosition().

Referenced by initDisplay(), and vpSimulatorViper850::initDisplay().

void vpWireFrameSimulator::setExternalCameraPosition ( const vpHomogeneousMatrix & cam_Mf )

inlineinherited

Set the external camera point of view.

Parameters

cam_Mf : The pose of the external camera relative to the world reference frame.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 517 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::buildFrom(), vpHomogeneousMatrix::extract(), and vpHomogeneousMatrix::inverse().

Referenced by vpRobotWireFrameSimulator::setExternalCameraPosition().

void vpRobotWireFrameSimulator::setGraphicsThickness ( unsigned int thickness )

inlineinherited

Specify the thickness of the graphics drawings.

Definition at line 309 of file vpRobotWireFrameSimulator.h.

void vpWireFrameSimulator::setInternalCameraParameters ( const vpCameraParameters & cam )

inlineinherited

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 540 of file vpWireFrameSimulator.h.

References vpCameraParameters::get_px(), and vpCameraParameters::get_py().

void vpSimulatorAfma6::setJointLimit	(	const vpColVector &	limitMin,
		const vpColVector &	limitMax
	)

This method enables to set the minimum and maximum joint limits for all the six axis of the robot. The three first values have to be given in meter and the others in radian.

Parameters

limitMin	: The minimum joint limits are given in a vector of size 6. The three first values have to be given in meter and the others in radian.
limitMax	: The maximum joint limits are given in a vector of size 6. The three first values have to be given in meter and the others in radian.

Examples:: servoMomentPoints.cpp, and servoMomentPolygon.cpp.

Definition at line 1814 of file vpSimulatorAfma6.cpp.

References vpAfma6::_joint_max, vpAfma6::_joint_min, vpArray2D< Type >::getRows(), and vpTRACE.

void vpRobot::setMaxRotationVelocity ( const double w_max )

inherited

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 setPosition().

void vpRobot::setMaxTranslationVelocity ( const double v_max )

inherited

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 setPosition().

void vpWireFrameSimulator::setNbPtTrajectory ( const unsigned int nbPt )

inlineinherited

Set the maximum number of main camera's positions which are stored. Those position can be displayed in the external camera field of view. By default this parameter is set to 1000.

Parameters

nbPt	: The desired number of position which are saved.

Definition at line 550 of file vpWireFrameSimulator.h.

void vpSimulatorAfma6::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	q
	)

virtual

Move to an absolute position with a given percent of max velocity. The percent of max velocity is to set with setPositioningVelocity(). The position to reach can be specified in joint coordinates, in the camera frame or in the reference frame.

Warning: This method is blocking. It returns only when the position is reached by the robot.

Parameters

q	: A six dimension vector corresponding to the position to reach. All the positions are expressed in meters for the translations and radians for the rotations. If the position is out of range, an exception is provided.
frame	: Frame in which the position is expressed.

In the joint space, positions are respectively X, Y, Z, A, B, C, with X,Y,Z the translations, and A,B,C the rotations of the end-effector.
In the camera and the reference frame, rotations are represented by a vpRxyzVector.
Mixt frame is not implemented. By mixt frame we mean, translations expressed in the reference frame, and rotations in the camera frame.

Exceptions

vpRobotException::lowLevelError	: vpRobot::MIXT_FRAME not implemented.
vpRobotException::positionOutOfRangeError	: The requested position is out of range.

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector position(6);
  // Set positions in the camera frame
  position[0] = 0.1;    // x axis, in meter
  position[1] = 0.2;    // y axis, in meter
  position[2] = 0.3;    // z axis, in meter
  position[3] = M_PI/8; // rotation around x axis, in rad
  position[4] = M_PI/4; // rotation around y axis, in rad
  position[5] = M_PI;   // rotation around z axis, in rad
  vpSimulatorAfma6 robot;
  
  robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
  // Set the max velocity to 20%
  robot.setPositioningVelocity(20);
  // Moves the robot in the camera frame
  robot.setPosition(vpRobot::CAMERA_FRAME, position);
}

To catch the exception if the position is out of range, modify the code like:

try {
  robot.setPosition(vpRobot::CAMERA_FRAME, position);
}
catch (vpRobotException e) {
  if (e.getCode() == vpRobotException::positionOutOfRangeError) {
  std::cout << "The position is out of range" << std::endl;
}

Implements vpRobot.

Definition at line 1335 of file vpSimulatorAfma6.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobotWireFrameSimulator::get_artCoord(), vpAfma6::get_fMc(), vpAfma6::getInverseKinematics(), vpRobot::getRobotState(), vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpRobotException::positionOutOfRangeError, vpRobot::REFERENCE_FRAME, vpRobotWireFrameSimulator::set_artCoord(), vpRobotWireFrameSimulator::set_artVel(), vpRobotWireFrameSimulator::set_velocity(), vpRobotWireFrameSimulator::setVelocityCalled, vpRobot::STATE_POSITION_CONTROL, vpColVector::sumSquare(), vpRobotWireFrameSimulator::verbose_, and vpERROR_TRACE.

Referenced by move(), and setPosition().

void vpSimulatorAfma6::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const double	pos1,
		const double	pos2,
		const double	pos3,
		const double	pos4,
		const double	pos5,
		const double	pos6
	)

Move to an absolute position with a given percent of max velocity. The percent of max velocity is to set with setPositioningVelocity(). The position to reach can be specified in joint coordinates, in the camera frame or in the reference frame.

This method overloads setPosition(const vpRobot::vpControlFrameType, const vpColVector &).

Warning: This method is blocking. It returns only when the position is reached by the robot.

Parameters

pos1,pos2,pos3,pos4,pos5,pos6	: The six coordinates of the position to reach. All the positions are expressed in meters for the translations and radians for the rotations.
frame	: Frame in which the position is expressed.

In the joint space, positions are respectively X (pos1), Y (pos2), Z (pos3), A (pos4), B (pos5), C (pos6), with X,Y,Z the translations, and A,B,C the rotations of the end-effector.
In the camera and the reference frame, rotations [pos4, pos5, pos6] are represented by a vpRxyzVector.
Mixt frame is not implemented. By mixt frame we mean, translations expressed in the reference frame, and rotations in the camera frame.

Exceptions

vpRobotException::lowLevelError	: vpRobot::MIXT_FRAME not implemented.
vpRobotException::positionOutOfRangeError	: The requested position is out of range.

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
int main()
{
  // Set positions in the camera frame
  double pos1 = 0.1;    // x axis, in meter
  double pos2 = 0.2;    // y axis, in meter
  double pos3 = 0.3;    // z axis, in meter
  double pos4 = M_PI/8; // rotation around x axis, in rad
  double pos5 = M_PI/4; // rotation around y axis, in rad
  double pos6 = M_PI;   // rotation around z axis, in rad
  vpSimulatorAfma6 robot;
  robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
  // Set the max velocity to 20%
  robot.setPositioningVelocity(20);
  // Moves the robot in the camera frame
  robot.setPosition(vpRobot::CAMERA_FRAME, pos1, pos2, pos3, pos4, pos5, pos6);
}

See also: setPosition()

Definition at line 1541 of file vpSimulatorAfma6.cpp.

References setPosition(), and vpERROR_TRACE.

void vpSimulatorAfma6::setPosition ( const char * filename )

Move to an absolute joint position with a given percent of max velocity. The robot state is set to position control. The percent of max velocity is to set with setPositioningVelocity(). The position to reach is defined in the position file.

Parameters

filename : Name of the position file to read. The readPosFile() documentation shows a typical content of such a position file.

This method has the same behavior than the sample code given below;

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/core/vpColVector.h>
int main()
{
  vpColVector q;
  vpSimulatorAfma6 robot;
  robot.readPosFile("MyPositionFilename.pos", q);
  robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
  robot.setPosition(vpRobot::ARTICULAR_FRAME, q);
}

Exceptions

vpRobotException::lowLevelError	: vpRobot::MIXT_FRAME not implemented.
vpRobotException::positionOutOfRangeError	: The requested position is out of range.

See also: setPositioningVelocity()

Definition at line 1602 of file vpSimulatorAfma6.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobotException::lowLevelError, readPosFile(), setPosition(), setRobotState(), vpRobot::STATE_POSITION_CONTROL, and vpERROR_TRACE.

bool vpSimulatorAfma6::setPosition	(	const vpHomogeneousMatrix &	cdMo_,
		vpImage< unsigned char > *	Iint = `NULL`,
		const double &	errMax = `0.001`
	)

This method enable to move the robot with respect to the initialized object. The robot trajectory is a straight line from the current position to the one corresponding to the desired pose (3D visual servoing).

Parameters

cdMo_	: the desired pose of the camera wrt. the object
Iint	: pointer to the image where the internal view is displayed
errMax	: maximum error to consider the pose is reached

Returns: True is the pose is reached, False else

Definition at line 2560 of file vpSimulatorAfma6.cpp.

References vpThetaUVector::buildFrom(), vpRobot::CAMERA_FRAME, vpDisplay::display(), vpColVector::euclideanNorm(), vpHomogeneousMatrix::extract(), vpDisplay::flush(), vpRobotWireFrameSimulator::get_cMo(), vpRobotWireFrameSimulator::getInternalView(), vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpHomogeneousMatrix::inverse(), vpTime::measureTimeMs(), vpRobotWireFrameSimulator::set_artVel(), vpRobotWireFrameSimulator::set_velocity(), vpRobot::setMaxRotationVelocity(), vpRobot::setMaxTranslationVelocity(), setVelocity(), vpRotationMatrix::t(), and vpTime::wait().

void vpSimulatorAfma6::setPositioningVelocity ( const double vel )

inline

Definition at line 241 of file vpSimulatorAfma6.h.

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 208 of file vpRobot.cpp.

Referenced by init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), setVelocity(), and vpSimulatorViper850::setVelocity().

vpRobot::vpRobotStateType vpSimulatorAfma6::setRobotState ( const vpRobot::vpRobotStateType newState )

virtual

Change the robot state.

Parameters

newState : New requested robot state.

Reimplemented from vpRobot.

Definition at line 765 of file vpSimulatorAfma6.cpp.

References vpRobot::getRobotState(), vpRobot::setRobotState(), vpRobot::STATE_ACCELERATION_CONTROL, vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, and stopMotion().

Referenced by init(), move(), and setPosition().

void vpRobotWireFrameSimulator::setSamplingTime ( const double & delta_t )

inlinevirtualinherited

Set the sampling time.

Parameters

delta_t : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Since the wireframe simulator is threaded, the sampling time is set to vpTime::getMinTimeForUsleepCall() / 1000 seconds.

Reimplemented from vpRobotSimulator.

Definition at line 323 of file vpRobotWireFrameSimulator.h.

References vpTime::getMinTimeForUsleepCall().

Referenced by vpRobotWireFrameSimulator::vpRobotWireFrameSimulator().

void vpRobotWireFrameSimulator::setSingularityManagement ( const bool sm )

inlineinherited

Set the parameter which enable or disable the singularity mangement

Definition at line 332 of file vpRobotWireFrameSimulator.h.

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

inlineprotectedinherited

Set the current tool type.

Definition at line 170 of file vpAfma6.h.

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

void vpSimulatorAfma6::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel
	)

virtual

Apply a velocity to the robot.

Parameters

frame	: Control frame in which the velocity is expressed. Velocities could be expressed in articular, camera frame, reference frame or mixt frame.
vel	: Velocity vector. Translation velocities are expressed in m/s while rotation velocities in rad/s. The size of this vector is always 6.

In articular, $vel = [\dot{q}_1, \dot{q}_2, \dot{q}_3, \dot{q}_4, \dot{q}_5, \dot{q}_6]^t$ correspond to joint velocities.
In camera frame, $vel = [^{c} v_x, ^{c} v_y, ^{c} v_z, ^{c} \omega_x, ^{c} \omega_y, ^{c} \omega_z]^t$ is expressed in the camera frame.
In reference frame, $vel = [^{r} v_x, ^{r} v_y, ^{r} v_z, ^{r} \omega_x, ^{r} \omega_y, ^{r} \omega_z]^t$ is expressed in the reference frame.
In mixt frame, $vel = [^{r} v_x, ^{r} v_y, ^{r} v_z, ^{c} \omega_x, ^{c} \omega_y, ^{c} \omega_z]^t$ . In mixt frame, translations are expressed in the reference frame and rotations $\omega_x, \omega_y, \omega_z$ in the camera frame.

Exceptions

vpRobotException::wrongStateError : If a the robot is not configured to handle a velocity. The robot can handle a velocity only if the velocity control mode is set. For that, call setRobotState( vpRobot::STATE_VELOCITY_CONTROL) before setVelocity().

Warning: Velocities could be saturated if one of them exceed the maximal autorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity().

#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpSimulatorAfma6.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpMath.h>
int main()
{
  vpSimulatorAfma6 robot;
  vpColVector qvel(6);
  // Set a joint velocity
  qvel[0] = 0.1;             // Joint 1 velocity in m/s
  qvel[1] = 0.1;             // Joint 2 velocity in m/s
  qvel[2] = 0.1;             // Joint 3 velocity in m/s
  qvel[3] = M_PI/8;          // Joint 4 velocity in rad/s
  qvel[4] = 0;               // Joint 5 velocity in rad/s
  qvel[5] = 0;               // Joint 6 velocity in rad/s
  
  // Initialize the controller to position control
  robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
  for ( ; ; ) {
    // Apply a velocity in the joint space
    robot.setVelocity(vpRobot::ARTICULAR_FRAME, qvel);
    // Compute new velocities qvel...
  }
  // Stop the robot
  robot.setRobotState(vpRobot::STATE_STOP);
}

Implements vpRobot.

Definition at line 869 of file vpSimulatorAfma6.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpArray2D< Type >::getRows(), vpRobotWireFrameSimulator::jointLimit, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobotWireFrameSimulator::set_velocity(), vpRobot::setRobotFrame(), vpRobotWireFrameSimulator::setVelocityCalled, vpRobot::STATE_VELOCITY_CONTROL, vpERROR_TRACE, and vpRobotException::wrongStateError.

Referenced by setPosition().

void vpRobotWireFrameSimulator::setVerbose ( bool verbose )

inlineinherited

Activates extra printings when the robot reaches joint limits...

Definition at line 337 of file vpRobotWireFrameSimulator.h.

bool vpSimulatorAfma6::singularityTest	(	const vpColVector	q,
		vpMatrix &	J
	)

protected

Test to detect if the robot is near one of its singularities.

The goal is to avoid the problems du to such configurations.

Definition at line 1844 of file vpSimulatorAfma6.cpp.

Referenced by computeArticularVelocity().

void vpSimulatorAfma6::stopMotion ( void )

Stop the robot.

Definition at line 2272 of file vpSimulatorAfma6.cpp.

References vpRobot::getRobotState(), vpRobotWireFrameSimulator::set_artVel(), vpRobotWireFrameSimulator::set_velocity(), vpRobot::setRobotState(), vpRobot::STATE_STOP, and vpRobot::STATE_VELOCITY_CONTROL.

Referenced by setRobotState().

void vpSimulatorAfma6::updateArticularPosition ( )

protectedvirtual

Method lauched by the thread to compute the position of the robot in the articular frame.

Implements vpRobotWireFrameSimulator.

Definition at line 496 of file vpSimulatorAfma6.cpp.

Member Data Documentation

double vpAfma6::_coupl_56

protectedinherited

Definition at line 180 of file vpAfma6.h.

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

vpHomogeneousMatrix vpAfma6::_eMc

protectedinherited

Definition at line 188 of file vpAfma6.h.

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

vpRxyzVector vpAfma6::_erc

protectedinherited

Definition at line 186 of file vpAfma6.h.

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

vpTranslationVector vpAfma6::_etc

protectedinherited

Definition at line 185 of file vpAfma6.h.

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

double vpAfma6::_joint_max[6]

protectedinherited

Definition at line 182 of file vpAfma6.h.

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

double vpAfma6::_joint_min[6]

protectedinherited

Definition at line 183 of file vpAfma6.h.

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

double vpAfma6::_long_56

protectedinherited

Definition at line 181 of file vpAfma6.h.

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

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 109 of file vpRobot.h.

Referenced by vpRobot::operator=().

vpColVector vpRobotWireFrameSimulator::artCoord

protectedinherited

The articular coordinates

Definition at line 113 of file vpRobotWireFrameSimulator.h.

Referenced by init(), and vpSimulatorViper850::init().

vpColVector vpRobotWireFrameSimulator::artVel

protectedinherited

The articular velocity

Definition at line 115 of file vpRobotWireFrameSimulator.h.

Referenced by init(), and vpSimulatorViper850::init().

pthread_attr_t vpRobotWireFrameSimulator::attr

protectedinherited

Definition at line 128 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

bool vpWireFrameSimulator::blocked

protectedinherited

Definition at line 257 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

bool vpWireFrameSimulator::blockedr

protectedinherited

Definition at line 254 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

bool vpWireFrameSimulator::blockedt

protectedinherited

Definition at line 256 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

bool vpWireFrameSimulator::blockedz

protectedinherited

Definition at line 255 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation().

vpColor vpWireFrameSimulator::camColor

protectedinherited

Definition at line 238 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

Bound_scene vpWireFrameSimulator::camera

protectedinherited

Definition at line 225 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), initArms(), vpSimulatorViper850::initArms(), vpRobotWireFrameSimulator::initScene(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

float vpWireFrameSimulator::cameraFactor

protectedinherited

Definition at line 272 of file vpWireFrameSimulator.h.

Referenced by initArms(), vpSimulatorViper850::initArms(), and vpWireFrameSimulator::initScene().

vpCameraParameters vpRobotWireFrameSimulator::cameraParam

protectedinherited

External camera parameters

Definition at line 148 of file vpRobotWireFrameSimulator.h.

Referenced by initDisplay(), vpSimulatorViper850::initDisplay(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

std::list<vpImagePoint> vpWireFrameSimulator::cameraTrajectory

protectedinherited

Definition at line 246 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

vpHomogeneousMatrix vpWireFrameSimulator::camMf

protectedinherited

Definition at line 230 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::projectCameraTrajectory().

vpHomogeneousMatrix vpWireFrameSimulator::camMf2

protectedinherited

Definition at line 259 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

vpColor vpWireFrameSimulator::camTrajColor

protectedinherited

Definition at line 239 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

vpCameraTrajectoryDisplayType vpWireFrameSimulator::camTrajType

protectedinherited

Definition at line 274 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), and vpWireFrameSimulator::getExternalImage().

vpHomogeneousMatrix vpWireFrameSimulator::cdMo

protectedinherited

Definition at line 233 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), and vpRobotWireFrameSimulator::getInternalView().

vpHomogeneousMatrix vpWireFrameSimulator::cMo

protectedinherited

Definition at line 232 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpRobotWireFrameSimulator::getInternalView().

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

staticinherited

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 vpAfma6::init().

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

staticinherited

Definition at line 81 of file vpAfma6.h.

Referenced by vpAfma6::getCameraParameters().

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

staticinherited

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

Definition at line 86 of file vpAfma6.h.

Referenced by vpAfma6::getCameraParameters(), and getCameraParameters().

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

staticinherited

Definition at line 74 of file vpAfma6.h.

Referenced by vpAfma6::init().

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

staticinherited

Definition at line 73 of file vpAfma6.h.

Referenced by vpAfma6::init().

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

staticinherited

Definition at line 80 of file vpAfma6.h.

Referenced by vpAfma6::init().

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

staticinherited

Definition at line 79 of file vpAfma6.h.

Referenced by vpAfma6::init().

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

staticinherited

Definition at line 76 of file vpAfma6.h.

Referenced by vpAfma6::init().

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

staticinherited

Definition at line 75 of file vpAfma6.h.

Referenced by vpAfma6::init().

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

staticinherited

Definition at line 78 of file vpAfma6.h.

Referenced by vpAfma6::init().

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

staticinherited

Definition at line 77 of file vpAfma6.h.

Referenced by vpAfma6::init().

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

staticinherited

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

Definition at line 101 of file vpAfma6.h.

Referenced by vpAfma6::getCameraParameters().

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

staticinherited

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

Definition at line 91 of file vpAfma6.h.

Referenced by vpAfma6::getCameraParameters(), and getCameraParameters().

const char *const vpAfma6::CONST_VACUUM_CAMERA_NAME = "Dragonfly2-6mm-vacuum"

staticinherited

Name of the camera attached to the vacuum gripper tool (vpAfma6ToolType::TOOL_VACUUM).

Definition at line 96 of file vpAfma6.h.

Referenced by vpAfma6::getCameraParameters().

bool vpRobotWireFrameSimulator::constantSamplingTimeMode

protectedinherited

Flag used to force the sampling time in the thread computing the robot's displacement to a constant value (samplingTime). It may be useful if the main thread (computing the features) is very time consumming. False by default.

Definition at line 166 of file vpRobotWireFrameSimulator.h.

Referenced by updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

vpColor vpWireFrameSimulator::curColor

protectedinherited

Definition at line 240 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpRobotWireFrameSimulator::getInternalView().

const double vpSimulatorAfma6::defaultPositioningVelocity = 25.0

static

Definition at line 179 of file vpSimulatorAfma6.h.

Referenced by init().

const vpAfma6::vpAfma6ToolType vpAfma6::defaultTool = TOOL_CCMOP

staticinherited

Default tool attached to the robot end effector.

Definition at line 113 of file vpAfma6.h.

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

double vpRobotSimulator::delta_t_

protectedinherited

Definition at line 65 of file vpRobotSimulator.h.

Referenced by vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotCamera::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

vpColor vpWireFrameSimulator::desColor

protectedinherited

Definition at line 241 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), and vpRobotWireFrameSimulator::getInternalView().

vpSceneDesiredObject vpWireFrameSimulator::desiredObject

protectedinherited

Definition at line 236 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), and vpWireFrameSimulator::initScene().

Bound_scene vpWireFrameSimulator::desiredScene

protectedinherited

Definition at line 224 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

vpDisplayX vpRobotWireFrameSimulator::display

protectedinherited

Definition at line 151 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::vpRobotWireFrameSimulator().

bool vpRobotWireFrameSimulator::displayAllowed

protectedinherited

Definition at line 164 of file vpRobotWireFrameSimulator.h.

Referenced by updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

bool vpRobotWireFrameSimulator::displayBusy

protectedinherited

Definition at line 136 of file vpRobotWireFrameSimulator.h.

bool vpWireFrameSimulator::displayCamera

protectedinherited

Definition at line 269 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), initArms(), vpSimulatorViper850::initArms(), vpRobotWireFrameSimulator::initScene(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

bool vpWireFrameSimulator::displayCameraTrajectory

protectedinherited

Definition at line 245 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

bool vpWireFrameSimulator::displayDesiredObject

protectedinherited

Definition at line 268 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

bool vpWireFrameSimulator::displayImageSimulator

protectedinherited

Definition at line 270 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::initScene().

bool vpWireFrameSimulator::displayObject

protectedinherited

Definition at line 267 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

vpDisplayRobotType vpRobotWireFrameSimulator::displayType

protectedinherited

Definition at line 162 of file vpRobotWireFrameSimulator.h.

Referenced by updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 101 of file vpRobot.h.

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

int vpRobot::eJeAvailable

protectedinherited

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

Definition at line 103 of file vpRobot.h.

Referenced by vpRobot::operator=().

bool vpWireFrameSimulator::extCamChanged

protectedinherited

Definition at line 276 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

vpHomogeneousMatrix vpWireFrameSimulator::f2Mf

protectedinherited

Definition at line 260 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 105 of file vpRobot.h.

Referenced by vpRobot::operator=().

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

Referenced by vpRobot::operator=().

vpHomogeneousMatrix vpWireFrameSimulator::fMc

protectedinherited

Definition at line 229 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

vpHomogeneousMatrix* vpRobotWireFrameSimulator::fMi

protectedinherited

Table containing all the homogeneous matrices between the reference frame of the robot and the frames you used to compute the Denavit-Hartenberg representation

If you use a camera at the end of the effector, the last homogeneous matrix has to be the one between the reference frame and the camera frame (fMc)

Definition at line 110 of file vpRobotWireFrameSimulator.h.

Referenced by compute_fMi(), vpSimulatorViper850::compute_fMi(), init(), vpSimulatorViper850::init(), updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

vpHomogeneousMatrix vpWireFrameSimulator::fMo

protectedinherited

Definition at line 228 of file vpWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::get_cMo(), vpRobotWireFrameSimulator::get_fMo(), getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), initialiseObjectRelativeToCamera(), and vpSimulatorViper850::initialiseObjectRelativeToCamera().

std::list<vpHomogeneousMatrix> vpWireFrameSimulator::fMoList

protectedinherited

Definition at line 248 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

vpImage<vpRGBa> vpRobotWireFrameSimulator::I

inherited

Definition at line 87 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::getInternalView(), updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), and vpRobotWireFrameSimulator::vpRobotWireFrameSimulator().

bool vpRobotWireFrameSimulator::jointLimit

protectedinherited

True if one of the joint reach the limit

Definition at line 141 of file vpRobotWireFrameSimulator.h.

Referenced by computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), setVelocity(), vpSimulatorViper850::setVelocity(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

unsigned int vpRobotWireFrameSimulator::jointLimitArt

protectedinherited

Index of the joint which is in limit

Definition at line 143 of file vpRobotWireFrameSimulator.h.

Referenced by updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 95 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 96 of file vpRobot.h.

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 93 of file vpRobot.h.

Referenced by vpRobot::operator=().

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 94 of file vpRobot.h.

pthread_mutex_t vpRobotWireFrameSimulator::mutex_artCoord

protectedinherited

Definition at line 131 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

pthread_mutex_t vpRobotWireFrameSimulator::mutex_artVel

protectedinherited

Definition at line 130 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

pthread_mutex_t vpRobotWireFrameSimulator::mutex_display

protectedinherited

Definition at line 133 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

pthread_mutex_t vpRobotWireFrameSimulator::mutex_fMi

protectedinherited

Definition at line 129 of file vpRobotWireFrameSimulator.h.

Referenced by compute_fMi(), vpSimulatorViper850::compute_fMi(), vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

pthread_mutex_t vpRobotWireFrameSimulator::mutex_velocity

protectedinherited

Definition at line 132 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

unsigned int vpWireFrameSimulator::nbrPtLimit

protectedinherited

Definition at line 249 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage().

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 99 of file vpRobot.h.

Referenced by vpRobot::operator=().

const unsigned int vpAfma6::njoint = 6

staticinherited

Number of joint.

Definition at line 172 of file vpAfma6.h.

Referenced by vpRobotAfma6::checkJointLimits(), vpRobotAfma6::get_eJe(), vpRobotAfma6::get_fJe(), vpRobotAfma6::getDisplacement(), vpAfma6::getInverseKinematics(), vpRobotAfma6::getPosition(), vpRobotAfma6::getVelocity(), init(), readPosFile(), vpRobotAfma6::readPosFile(), vpRobotAfma6::setPosition(), and vpRobotAfma6::setVelocity().

vpSceneObject vpWireFrameSimulator::object

protectedinherited

Definition at line 235 of file vpWireFrameSimulator.h.

std::list<vpImageSimulator> vpWireFrameSimulator::objectImage

protectedinherited

Definition at line 226 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), and vpWireFrameSimulator::initScene().

vpImagePoint vpWireFrameSimulator::old_iPr

protectedinherited

Definition at line 251 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

vpImagePoint vpWireFrameSimulator::old_iPt

protectedinherited

Definition at line 253 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

vpImagePoint vpWireFrameSimulator::old_iPz

protectedinherited

Definition at line 252 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::navigation(), and vpWireFrameSimulator::vpWireFrameSimulator().

std::list<vpHomogeneousMatrix> vpWireFrameSimulator::poseList

protectedinherited

Definition at line 247 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::~vpWireFrameSimulator().

vpCameraParameters::vpCameraParametersProjType vpAfma6::projModel

protectedinherited

Definition at line 194 of file vpAfma6.h.

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

double vpWireFrameSimulator::px_ext

protectedinherited

Definition at line 264 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

double vpWireFrameSimulator::px_int

protectedinherited

Definition at line 262 of file vpWireFrameSimulator.h.

Referenced by getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), initDisplay(), vpSimulatorViper850::initDisplay(), setCameraParameters(), and vpSimulatorViper850::setCameraParameters().

double vpWireFrameSimulator::py_ext

protectedinherited

Definition at line 265 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), and vpWireFrameSimulator::getExternalImage().

double vpWireFrameSimulator::py_int

protectedinherited

Definition at line 263 of file vpWireFrameSimulator.h.

Referenced by getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), initDisplay(), vpSimulatorViper850::initDisplay(), setCameraParameters(), and vpSimulatorViper850::setCameraParameters().

double* vpRobot::qmax

protectedinherited

Definition at line 111 of file vpRobot.h.

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

double* vpRobot::qmin

protectedinherited

Definition at line 110 of file vpRobot.h.

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

vpHomogeneousMatrix vpWireFrameSimulator::refMo

protectedinherited

Definition at line 231 of file vpWireFrameSimulator.h.

Bound_scene* vpRobotWireFrameSimulator::robotArms

protectedinherited

Contains the 3D model of the robot's arms

Definition at line 103 of file vpRobotWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), init(), initArms(), vpSimulatorViper850::initArms(), initDisplay(), vpSimulatorViper850::initDisplay(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

bool vpRobotWireFrameSimulator::robotStop

protectedinherited

True if the robot has to be stopped

Definition at line 139 of file vpRobotWireFrameSimulator.h.

Referenced by updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

vpHomogeneousMatrix vpWireFrameSimulator::rotz

protectedinherited

Definition at line 278 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpWireFrameSimulator::projectCameraTrajectory(), and vpWireFrameSimulator::vpWireFrameSimulator().

Bound_scene vpWireFrameSimulator::scene

protectedinherited

Definition at line 223 of file vpWireFrameSimulator.h.

Referenced by getExternalImage(), vpSimulatorViper850::getExternalImage(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), vpWireFrameSimulator::initScene(), vpWireFrameSimulator::vpWireFrameSimulator(), and vpWireFrameSimulator::~vpWireFrameSimulator().

bool vpWireFrameSimulator::sceneInitialized

protectedinherited

Definition at line 243 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::getInternalImage(), vpRobotWireFrameSimulator::getInternalView(), initDisplay(), vpSimulatorViper850::initDisplay(), vpWireFrameSimulator::initScene(), and vpWireFrameSimulator::~vpWireFrameSimulator().

bool vpRobotWireFrameSimulator::setVelocityCalled

protectedinherited

Flag used to specify to the thread managing the robot displacements that the setVelocity() method has been called.

Definition at line 169 of file vpRobotWireFrameSimulator.h.

Referenced by setPosition(), vpSimulatorViper850::setPosition(), setVelocity(), vpSimulatorViper850::setVelocity(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

bool vpRobotWireFrameSimulator::singularityManagement

protectedinherited

True if the singularity are automatically managed

Definition at line 145 of file vpRobotWireFrameSimulator.h.

Referenced by computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

unsigned int vpRobotWireFrameSimulator::size_fMi

protectedinherited

Size of the fMi table

Definition at line 106 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::get_cMo(), vpRobotWireFrameSimulator::getInternalView(), init(), and vpSimulatorViper850::init().

double vpRobotWireFrameSimulator::tcur

protectedinherited

cpu time at the begining of the robot's movement

Definition at line 98 of file vpRobotWireFrameSimulator.h.

Referenced by updateArticularPosition(), vpSimulatorViper850::updateArticularPosition(), vpSimulatorAfma6(), and vpSimulatorViper850::vpSimulatorViper850().

unsigned int vpWireFrameSimulator::thickness_

protectedinherited

Definition at line 280 of file vpWireFrameSimulator.h.

Referenced by vpWireFrameSimulator::display_scene(), vpWireFrameSimulator::displayTrajectory(), vpWireFrameSimulator::getExternalImage(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

pthread_t vpRobotWireFrameSimulator::thread

protectedinherited

Definition at line 127 of file vpRobotWireFrameSimulator.h.

Referenced by vpSimulatorAfma6(), vpSimulatorViper850::vpSimulatorViper850(), ~vpSimulatorAfma6(), and vpSimulatorViper850::~vpSimulatorViper850().

vpAfma6ToolType vpAfma6::tool_current

protectedinherited

Current tool in use.

Definition at line 192 of file vpAfma6.h.

double vpRobotWireFrameSimulator::tprev

protectedinherited

cpu time at the end of the last robot's movement

Definition at line 100 of file vpRobotWireFrameSimulator.h.

Referenced by updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

vpColVector vpRobotWireFrameSimulator::velocity

protectedinherited

The velocity in the current frame (articular, camera or reference)

Definition at line 117 of file vpRobotWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::vpRobotWireFrameSimulator().

bool vpRobotWireFrameSimulator::verbose_

protectedinherited

Definition at line 171 of file vpRobotWireFrameSimulator.h.

Referenced by initialiseCameraRelativeToObject(), vpSimulatorViper850::initialiseCameraRelativeToObject(), setPosition(), vpSimulatorViper850::setPosition(), updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

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