vpRobotBiclops.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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:
 * Interface for the Biclops robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_BICLOPS

#ifndef __vpROBOT_BICLOPS_H
#define __vpROBOT_BICLOPS_H


/* ------------------------------------------------------------------------ */
/* --- INCLUDES ----------------------------------------------------------- */
/* ------------------------------------------------------------------------ */

/* --- GENERAL --- */
#include <iostream>
#include <stdio.h>
#include <pthread.h>


/* --- ViSP --- */
#include <visp3/robot/vpRobot.h>
#include <visp3/robot/vpBiclops.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/robot/vpRobotBiclopsController.h>


/* ------------------------------------------------------------------------ */
/* --- CLASS -------------------------------------------------------------- */
/* ------------------------------------------------------------------------ */



class VISP_EXPORT vpRobotBiclops
  :
  public vpBiclops,
  public vpRobot
{

private:

  void getCameraDisplacement(vpColVector &d);
  void getArticularDisplacement(vpColVector &d);

private:
  static bool robotAlreadyCreated;
  pthread_t control_thread;

  std::string configfile; // Biclops config file

  vpRobotBiclopsController controller;

  double positioningVelocity;
  vpColVector q_previous;
  bool controlThreadCreated;

//private:
//#ifndef DOXYGEN_SHOULD_SKIP_THIS
//  /*! \brief No copy constructor allowed.   */
//  vpRobotBiclops(const vpRobotBiclops &)
//    : vpBiclops(), vpRobot(), control_thread(), controller(),
//      positioningVelocity(0), q_previous(), controlThreadCreated(false)
//  {
//    throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//  }
//  vpRobotBiclops &operator=(const vpRobotBiclops &){
//    throw vpException(vpException::functionNotImplementedError, "Not implemented!");
//    return *this;
//  }
//#endif

public:

  static const double       defaultPositioningVelocity;

  vpRobotBiclops (void);
  vpRobotBiclops (const std::string &filename);
  virtual ~vpRobotBiclops (void);

  void init (void);

  void get_cMe(vpHomogeneousMatrix &_cMe) const;
  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
  void get_eJe(vpMatrix &_eJe)  ;
  void get_fJe(vpMatrix &_fJe)  ;

  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &d);
  void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q);
  double getPositioningVelocity (void);
  void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & q_dot);
  vpColVector getVelocity (const vpRobot::vpControlFrameType frame);

  bool readPositionFile(const std::string &filename, vpColVector &q)  ;

  void setConfigFile (const std::string &filename="/usr/share/BiclopsDefault.cfg");
  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) ;
  void setPosition (const vpRobot::vpControlFrameType frame, const double &q1, const double &q2) ;
  void setPosition(const char *filename) ;
  void setPositioningVelocity (const double velocity);
  vpRobot::vpRobotStateType  setRobotState (const vpRobot::vpRobotStateType newState);
  void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector & q_dot);

  void stopMotion() ;

  static void * vpRobotBiclopsSpeedControlLoop (void * arg);
};



#endif /* #ifndef __vpROBOT_BICLOPS_H */

#endif