Visual Servoing Platform  version 3.1.0
vpRobotAfma6.h
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
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18  *
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Irisa's Afma6 robot controlled by an Adept MotionBlox.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpRobotAfma6_h
40 #define vpRobotAfma6_h
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #ifdef VISP_HAVE_AFMA6
45 
46 #include <iostream>
47 #include <stdio.h>
48 
49 #include <visp3/core/vpColVector.h>
50 #include <visp3/core/vpDebug.h>
51 #include <visp3/core/vpPoseVector.h>
52 #include <visp3/robot/vpAfma6.h>
53 #include <visp3/robot/vpRobot.h>
54 
55 // low level controller api
56 extern "C" {
57 #include "irisa_Afma6.h"
58 #include "trycatch.h"
59 }
60 
210 class VISP_EXPORT vpRobotAfma6 : public vpAfma6, public vpRobot
211 {
212 
213 private: /* Not allowed functions. */
217  vpRobotAfma6(const vpRobotAfma6 &robot);
218 
219 private: /* Attributs prives. */
229  static bool robotAlreadyCreated;
230 
231  double positioningVelocity;
232 
233  // Variables used to compute the measured velocities (see getVelocity() )
234  vpColVector q_prev_getvel;
235  vpHomogeneousMatrix fMc_prev_getvel;
236  double time_prev_getvel;
237  bool first_time_getvel;
238 
239  // Variables used to compute the measured displacement (see
240  // getDisplacement() )
241  vpColVector q_prev_getdis;
242  bool first_time_getdis;
243  vpHomogeneousMatrix fMc_prev_getdis;
244 
245 public: /* Constantes */
246  /* Vitesse maximale par default lors du positionnement du robot.
247  * C'est la valeur a la construction de l'attribut prive \a
248  * positioningVelocity. Cette valeur peut etre changee par la fonction
249  * #setPositioningVelocity.
250  */
251  static const double defaultPositioningVelocity; // = 20.0;
252 
253 public: /* Methode publiques */
254  explicit vpRobotAfma6(bool verbose = true);
255  virtual ~vpRobotAfma6(void);
256 
257  bool checkJointLimits(vpColVector &jointsStatus);
258 
259  void closeGripper();
260 
261  void getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &displacement);
262 
263  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
264  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
265  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
266  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
267 
268  double getPositioningVelocity(void);
269  bool getPowerState();
270  double getTime() const;
271 
272  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
273  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
274 
275  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
276  vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
277 
278  void get_cMe(vpHomogeneousMatrix &_cMe) const;
279  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
280  void get_eJe(vpMatrix &_eJe);
281  void get_fJe(vpMatrix &_fJe);
282 
283  void init(void);
284  void init(vpAfma6::vpAfma6ToolType tool, const vpHomogeneousMatrix &eMc);
285  void init(vpAfma6::vpAfma6ToolType tool, const std::string &filename);
286  void
289 
290  void move(const std::string &filename);
291  void move(const std::string &filename, const double velocity);
292 
293  void openGripper();
294 
295  void powerOn();
296  void powerOff();
297 
298  static bool readPosFile(const std::string &filename, vpColVector &q);
299  static bool savePosFile(const std::string &filename, const vpColVector &q);
300 
301  /* --- POSITIONNEMENT --------------------------------------------------- */
302  void setPosition(const vpRobot::vpControlFrameType frame, const vpPoseVector &pose);
303  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
304  void setPosition(const vpRobot::vpControlFrameType frame, const double pos1, const double pos2, const double pos3,
305  const double pos4, const double pos5, const double pos6);
306  void setPosition(const std::string &filename);
307  void setPositioningVelocity(const double velocity);
308  void set_eMc(const vpHomogeneousMatrix &eMc);
309 
310  /* --- ETAT ------------------------------------------------------------- */
311 
313 
314  /* --- VITESSE ---------------------------------------------------------- */
315 
316  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
317 
318  void stopMotion();
319 };
320 
321 #endif
322 #endif /* #ifndef vpRobotAfma6_h */
Modelisation of Irisa&#39;s gantry robot named Afma6.
Definition: vpAfma6.h:78
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpAfma6.cpp:842
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpAfma6.h:118
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:75
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
Control of Irisa&#39;s gantry robot named Afma6.
Definition: vpRobotAfma6.h:210
vpRobotStateType
Definition: vpRobot.h:64
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpAfma6.cpp:864
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpAfma6.cpp:934
virtual void set_eMc(const vpHomogeneousMatrix &eMc)
Definition: vpAfma6.cpp:1119
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:92
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpAfma6.cpp:820
void init(void)
Definition: vpAfma6.cpp:153
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
static const double defaultPositioningVelocity
Definition: vpRobotAfma6.h:251