vpSimulatorPioneerPan.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Pioneer mobile robot equipped with a pan head simulator without display.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/


#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/robot/vpSimulatorPioneerPan.h>
#include <visp3/robot/vpRobotException.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpExponentialMap.h>


vpSimulatorPioneerPan::vpSimulatorPioneerPan() : wMc_(), wMm_(), xm_(0), ym_(0), theta_(0), q_pan_()
{
  init() ;
}

void vpSimulatorPioneerPan::init()
{
  xm_ = 0;
  ym_ = 0;
  theta_ = 0;
  q_pan_ = 0;

  nDof = 3;
  eJeAvailable = true;
  fJeAvailable = false;
  areJointLimitsAvailable = false;
  qmin = NULL;
  qmax = NULL;

  wMc_ = wMm_ * mMp_ * pMe_ * cMe_.inverse();
}


vpSimulatorPioneerPan::~vpSimulatorPioneerPan()
{
}

void
vpSimulatorPioneerPan::get_eJe(vpMatrix &_eJe)
{
  _eJe = vpUnicycle::get_eJe();
}

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

      setRobotFrame(frame);

      // v is a 3 dimension vector that contains vx, wz, qpan
      if (v.size() != 3) {
        vpERROR_TRACE ("Bad dimension of the control vector");
        throw vpRobotException (vpRobotException::dimensionError,
                                "Bad dimension of the control vector");
      }

      vpColVector v_max(3);

      v_max[0] = getMaxTranslationVelocity();
      v_max[1] = getMaxRotationVelocity();
      v_max[2] = getMaxRotationVelocity();

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

      xm_ += delta_t_ * v_sat[0] * cos(theta_);
      ym_ += delta_t_ * v_sat[0] * sin(theta_);
      theta_ += delta_t_ * v_sat[1];
      q_pan_ += delta_t_ * v_sat[2];

      vpRotationMatrix wRm(0, 0, theta_);
      vpTranslationVector wtm(xm_, ym_, 0);
      wMm_.buildFrom(wtm, wRm);

      // Update the end effector pose
      set_pMe(q_pan_);

      // Update the camera pose
      wMc_ = wMm_ * mMp_ * pMe_ * cMe_.inverse();

      // Update the jacobian
      set_eJe(q_pan_);

      break ;
      }
  case vpRobot::CAMERA_FRAME: {
      vpERROR_TRACE ("Cannot set a velocity in the camera frame: "
                     "functionality not implemented");
      throw vpRobotException (vpRobotException::wrongStateError,
                              "Cannot set a velocity in the camera frame:"
                              "functionality not implemented");
      break ;
    }
  case vpRobot::REFERENCE_FRAME:
    vpERROR_TRACE ("Cannot set a velocity in the reference frame: "
                   "functionality not implemented");
    throw vpRobotException (vpRobotException::wrongStateError,
                            "Cannot set a velocity in the reference frame:"
                            "functionality not implemented");
    break ;

  case vpRobot::MIXT_FRAME:
    vpERROR_TRACE ("Cannot set a velocity in the mixt frame: "
         "functionality not implemented");
    throw vpRobotException (vpRobotException::wrongStateError,
                "Cannot set a velocity in the mixt frame:"
                "functionality not implemented");

    break ;
  }
}

void
vpSimulatorPioneerPan::getPosition(vpHomogeneousMatrix &wMc) const
{
  wMc = this->wMc_ ;
}

/*
  Get the current position of the robot.

  \param frame : Control frame type in which to get the position, either :
  - in the camera cartesien frame,
  - joint (articular) coordinates of each axes (not implemented)
  - in a reference or fixed cartesien frame attached to the robot base
  - in a mixt cartesien frame (translation in reference frame, and rotation in camera frame)

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

  - in articular, this functionality is not implemented.

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

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

  case vpRobot::ARTICULAR_FRAME :
    std::cout << "ARTICULAR_FRAME is not implemented in vpSimulatorPioneer::getPosition()" << std::endl;
    break;
  case vpRobot::REFERENCE_FRAME : {
    // Convert wMc_ to a position
    // From fMc extract the pose
    vpRotationMatrix wRc;
    this->wMc_.extract(wRc);
    vpRxyzVector rxyz;
    rxyz.buildFrom(wRc);

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

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