Visual Servoing Platform  version 3.0.1
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
vpRobotPtu46.h
1 /****************************************************************************
2  *
3  * This file is part of the ViSP software.
4  * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or
7  * modify it under the terms of the GNU General Public License
8  * ("GPL") version 2 as published by the Free Software Foundation.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See http://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Interface for the ptu-46 robot.
32  *
33  * Authors:
34  * Fabien Spindler
35  *
36  *****************************************************************************/
37 
38 
39 #include <visp3/core/vpConfig.h>
40 #ifdef VISP_HAVE_PTU46
41 
42 
43 #ifndef __vpROBOT_PTU46_H
44 #define __vpROBOT_PTU46_H
45 
46 
47 /* ------------------------------------------------------------------------ */
48 /* --- INCLUDES ----------------------------------------------------------- */
49 /* ------------------------------------------------------------------------ */
50 
51 /* --- GENERAL --- */
52 #include <iostream>
53 #include <stdio.h>
54 
55 
56 /* --- ViSP --- */
57 #include <visp3/robot/vpRobot.h>
58 #include <visp3/robot/vpPtu46.h>
59 #include <visp3/core/vpColVector.h>
60 #include <visp3/core/vpDebug.h>
61 #include <visp3/core/vpVelocityTwistMatrix.h>
62 
63 #include <ptu.h> // Contrib for Ptu-46 robot
64 
65 /* ------------------------------------------------------------------------ */
66 /* --- CLASS ------------------------------------------------------------- */
67 /* ------------------------------------------------------------------------ */
68 
69 
84 class VISP_EXPORT vpRobotPtu46
85  :
86  public vpPtu46,
87  public vpRobot
88 {
89 
90 private:
91 
93  vpRobotPtu46 (const vpRobotPtu46 & ass);
94 
96  Ptu ptu;
97 
98 private:
99  static bool robotAlreadyCreated;
100  double positioningVelocity;
101  int velocityMesureTempo;
102  char *device;
103 
104 public:
105  static const double defaultPositioningVelocity;
106 
107  vpRobotPtu46 (const char *device="/dev/ttyS0");
108  vpRobotPtu46 (vpRobotPtu46 * pub);
109  virtual ~vpRobotPtu46 (void);
110 
111  void get_cMe(vpHomogeneousMatrix &_cMe) const;
112  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
113  void get_eJe(vpMatrix &_eJe);
114  void get_fJe(vpMatrix &_fJe);
115 
117  void getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q);
118  double getPositioningVelocity (void);
119  void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector & q_dot);
120  vpColVector getVelocity (const vpRobot::vpControlFrameType frame);
121 
122  void init (void);
123 
124  bool readPositionFile(const std::string &filename, vpColVector &q);
125 
126  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) ;
127  void setPosition (const vpRobot::vpControlFrameType frame, const double &q1, const double &q2) ;
128  void setPosition(const char *filename) ;
129  void setPositioningVelocity (const double velocity);
131 
132  void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector & q_dot);
133 
134  void stopMotion() ;
135 
136 private:
137  void getCameraDisplacement(vpColVector &d);
138  void getArticularDisplacement(vpColVector &d);
139 };
140 
141 
142 
143 #endif /* #ifndef __vpROBOT_PTU46_H */
144 
145 
146 /*
147  * Local variables:
148  * c-basic-offset: 2
149  * End:
150  */
151 
152 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:97
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpPtu46.cpp:303
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get a displacement (frame as to ve specified) between two successive position control.
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const double defaultPositioningVelocity
Definition: vpRobotPtu46.h:105
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Class that defines a generic virtual robot.
Definition: vpRobot.h:58
vpControlFrameType
Definition: vpRobot.h:76
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
void get_cMe(vpHomogeneousMatrix &_cMe) const
Definition: vpPtu46.cpp:232
Interface for the Directed Perception ptu-46 pan, tilt head .
Definition: vpRobotPtu46.h:84
vpRobotStateType
Definition: vpRobot.h:64
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Implementation of a velocity twist matrix and operations on such kind of matrices.
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Definition: vpPtu46.cpp:214
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpPtu46.cpp:272
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception...
Definition: vpPtu46.h:76
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Set the velocity (frame has to be specified) that will be applied to the velocity controller...
void init(void)
Definition: vpPtu46.cpp:180