vpRobotViper850.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 Irisa's Viper S850 robot controlled by an Adept MotionBlox.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpRobotViper850_h
#define vpRobotViper850_h

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_VIPER850

#include <iostream>
#include <stdio.h>

#include <visp3/robot/vpRobot.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpDebug.h>
#include <visp3/robot/vpViper850.h>

// low level controller api
extern "C" {
#  include "irisa_Viper850.h"
#  include "trycatch.h"
}

// If USE_ATI_DAQ defined, use DAQ board instead of serial connexion to acquire data using comedi
#define USE_ATI_DAQ

#ifdef USE_ATI_DAQ
#  include <visp3/sensor/vpForceTorqueAtiSensor.h>
#endif

class VISP_EXPORT vpRobotViper850
  :
  public vpViper850,
  public vpRobot
{

public:  /* Constantes */

  typedef enum {
    AUTO,   
    MANUAL,  
    ESTOP  
  } vpControlModeType;

  /* Vitesse maximale par default lors du positionnement du robot.
   * C'est la valeur a la construction de l'attribut prive \a
   * positioningVelocity. Cette valeur peut etre changee par la fonction
   * #setPositioningVelocity.
   */
  static const double defaultPositioningVelocity; // = 20.0;

private: /* Not allowed functions. */

  vpRobotViper850 (const vpRobotViper850 & robot);

private: /* Attributs prives. */

  static bool robotAlreadyCreated;

  double positioningVelocity;

  // Variables used to compute the measured velocities (see getVelocity() )
  vpColVector q_prev_getvel;
  vpHomogeneousMatrix fMc_prev_getvel;
  double time_prev_getvel;
  bool first_time_getvel;

  // Variables used to compute the measured displacement (see
  // getDisplacement() )
  vpColVector q_prev_getdis;
  bool first_time_getdis;
  vpControlModeType controlMode;

#if defined(USE_ATI_DAQ) && defined(VISP_HAVE_COMEDI)
  vpForceTorqueAtiSensor ati;
#endif

public:  /* Methode publiques */

  vpRobotViper850 (bool verbose=true);
  virtual ~vpRobotViper850 (void);

  // Force/Torque control
  void biasForceTorqueSensor();

  void closeGripper() const;

  void disableJoint6Limits() const;
  void enableJoint6Limits() const;

  void getDisplacement(vpRobot::vpControlFrameType frame,
                       vpColVector &displacement);
  vpControlModeType getControlMode() const {
    return controlMode;
  }

  void getForceTorque(vpColVector &H) const;
  vpColVector getForceTorque() const;

  double getMaxRotationVelocityJoint6() const;
  void getPosition (const vpRobot::vpControlFrameType frame,
                    vpColVector &position);
  void getPosition (const vpRobot::vpControlFrameType frame,
                    vpColVector &position, double &timestamp);
  void getPosition (const vpRobot::vpControlFrameType frame,
                    vpPoseVector &position);
  void getPosition (const vpRobot::vpControlFrameType frame,
                    vpPoseVector &position, double &timestamp);

  double getPositioningVelocity (void) const;
  bool getPowerState() const;

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

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

  double getTime() const;

  void get_cMe(vpHomogeneousMatrix &cMe) const;
  void get_cVe(vpVelocityTwistMatrix &cVe) const;
  void get_eJe(vpMatrix &eJe);
  void get_fJe(vpMatrix &fJe);

  void init(void);
  void init(vpViper850::vpToolType tool,
            vpCameraParameters::vpCameraParametersProjType
            projModel = vpCameraParameters::perspectiveProjWithoutDistortion);
  void init(vpViper850::vpToolType tool, const std::string &filename);
  void init(vpViper850::vpToolType tool, const vpHomogeneousMatrix &eMc_);

  void move(const std::string &filename) ;

  void openGripper();

  void powerOn() ;
  void powerOff() ;

  static bool readPosFile(const std::string &filename, vpColVector &q)  ;
  static bool savePosFile(const std::string &filename, const vpColVector &q)  ;

  void set_eMc(const vpHomogeneousMatrix &eMc_);
  void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);

  void setMaxRotationVelocity(double w_max);
  void setMaxRotationVelocityJoint6(double w6_max);

  // Position control
  void setPosition(const vpRobot::vpControlFrameType frame,
                   const vpColVector &position) ;
  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 std::string &filename) ;
  void setPositioningVelocity (const double velocity);

  // State
  vpRobot::vpRobotStateType setRobotState (vpRobot::vpRobotStateType newState);

  // Velocity control
  void setVelocity (const vpRobot::vpControlFrameType frame,
                    const vpColVector & velocity);

  void stopMotion();
  void unbiasForceTorqueSensor();

private:
  void getArticularDisplacement(vpColVector &displacement);
  void getCameraDisplacement(vpColVector &displacement);

  double maxRotationVelocity_joint6;
};

#endif
#endif /* #ifndef vpRobotViper850_h */