#include <visp3/robot/vpRobotAfma4.h>

Inheritance diagram for vpRobotAfma4:

Public Types
enum	vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL }

enum	vpControlFrameType { REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME, CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME }

Public Member Functions
	vpRobotAfma4 (bool verbose=true)

virtual	~vpRobotAfma4 (void)

void	getDisplacement (vpRobot::vpControlFrameType frame, vpColVector &displacement)

void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &position)

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

double	getPositioningVelocity (void)

bool	getPowerState ()

double	getTime () 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)

void	get_cMe (vpHomogeneousMatrix &cMe) const

void	get_cVe (vpVelocityTwistMatrix &cVe) const

void	get_cVf (vpVelocityTwistMatrix &cVf) const

void	get_eJe (vpMatrix &eJe)

void	get_fJe (vpMatrix &fJe)

void	init (void)

void	move (const char *filename)

void	powerOn ()

void	powerOff ()

void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &position)

void	setPosition (const vpRobot::vpControlFrameType frame, const double q1, const double q2, const double q4, const double q5)

void	setPosition (const char *filename)

void	setPositioningVelocity (const double velocity)

vpRobot::vpRobotStateType	setRobotState (vpRobot::vpRobotStateType newState)

void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &velocity)

void	stopMotion ()

Inherited functionalities from vpAfma4
vpHomogeneousMatrix	getForwardKinematics (const vpColVector &q) const

vpHomogeneousMatrix	get_fMc (const vpColVector &q) const

void	get_fMc (const vpColVector &q, vpHomogeneousMatrix &fMc) const

void	get_fMe (const vpColVector &q, vpHomogeneousMatrix &fMe) const

void	get_cVf (const vpColVector &q, vpVelocityTwistMatrix &cVf) const

void	get_eJe (const vpColVector &q, vpMatrix &eJe) const

void	get_fJe (const vpColVector &q, vpMatrix &fJe) const

void	get_fJe_inverse (const vpColVector &q, vpMatrix &fJe_inverse) const

vpColVector	getJointMin () const

vpColVector	getJointMax () const

Inherited functionalities from vpRobot
double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

virtual vpRobotStateType	getRobotState (void) const

void	setMaxRotationVelocity (const double maxVr)

void	setMaxTranslationVelocity (const double maxVt)

void	setVerbose (bool verbose)

Static Public Member Functions
static bool	readPosFile (const std::string &filename, vpColVector &q)

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

Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Static Public Attributes
static const double	defaultPositioningVelocity = 15.0

static const unsigned int	njoint = 4

Protected Member Functions
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void) const

Protected Attributes
double	_a1

double	_d3

double	_d4

double	_joint_max [4]

double	_joint_min [4]

vpTranslationVector	_etc

vpRxyzVector	_erc

vpHomogeneousMatrix	_eMc

double	maxTranslationVelocity

double	maxRotationVelocity

int	nDof

vpMatrix	eJe

int	eJeAvailable

vpMatrix	fJe

int	fJeAvailable

int	areJointLimitsAvailable

double *	qmin

double *	qmax

bool	verbose_

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2

static const double	maxRotationVelocityDefault = 0.7

Detailed Description

Control of Irisa's cylindrical robot named Afma4.

Implementation of the vpRobot class in order to control Irisa's Afma4 robot. This robot is a cylindrical robot with five degrees of freedom but only four are actuated (see vpAfma4 documentation). It was manufactured in 1995 by the french Afma-Robots company. In 2008, the low level controller change for a more recent Adept technology based on the MotionBlox controller. A firewire camera is mounted on the end-effector to allow eye-in-hand visual servoing. The control of this camera is achieved by the vp1394TwoGrabber class. A Servolens lens is attached to the camera. It allows to control the focal lens, the iris and the focus throw a serial link. The control of the lens is possible using the vpServolens class.

This class allows to control the Afma4 cylindrical robot in position and velocity:

in the joint space (vpRobot::ARTICULAR_FRAME),
in the fixed reference frame (vpRobot::REFERENCE_FRAME),
in the camera frame (vpRobot::CAMERA_FRAME),

Mixed frame (vpRobot::MIXT_FRAME) where translations are expressed in the reference frame and rotations in the camera frame is not implemented. End-effector frame (vpRobot::END_EFFECTOR_FRAME) is also not implemented.

All the translations are expressed in meters for positions and m/s for the velocities. Rotations are expressed in radians for the positions, and rad/s for the rotation velocities.

The Denavit-Hartenberg representation as well as the direct and inverse kinematics models are given and implemented in the vpAfma4 class.

Warning: A Ctrl-C, a segmentation fault or other system errors are catched by this class to stop the robot.

To communicate with the robot, you may first create an instance of this class by calling the default constructor:

vpRobotAfma4 robot;

This initialize the robot kinematics with the eMc extrinsic camera parameters.

To control the robot in position, you may set the controller to position control and than send the position to reach in a specific frame like here in the joint space:

vpColVector q(4);
// Set a joint position
q[0] =  M_PI/2; // X axis, in radian
q[1] =  0.2;    // Y axis, in meter
q[2] = -M_PI/2; // A axis, in radian
q[3] =  M_PI/8; // B axis, in radian
// Initialize the controller to position control
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
// Moves the robot in the joint space
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);

The robot moves to the specified position with the default positioning velocity vpRobotAfma4::defaultPositioningVelocity. The setPositioningVelocity() method allows to change the maximal velocity used to reach the desired position.

// Set the max velocity to 40%
robot.setPositioningVelocity(40);
// Moves the robot in the joint space
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);

To control the robot in velocity, you may set the controller to velocity control and than send the velocities. To end the velocity control and stop the robot you have to set the controller to the stop state. Here is an example of a velocity control in the joint space:

vpColVector qvel(6);
// Set a joint velocity
qvel[0] = M_PI/8; // X axis, in rad/s
qvel[1] = 0.2;    // Y axis, in m/s
qvel[2] = 0;      // A axis, in rad/s
qvel[3] = M_PI/8; // B axis, in rad/s
// Initialize the controller to position control
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
while (...) {
  // Apply a velocity in the joint space
  robot.setVelocity(vpRobot::ARTICULAR_FRAME, qvel);
  // Compute new velocities qvel...
}
// Stop the robot
robot.setRobotState(vpRobot::STATE_STOP)

There is also possible to measure the robot current position with getPosition() method and the robot current velocities with the getVelocity() method.

For convenience, there is also the ability to read/write joint positions from a position file with readPosFile() and writePosFile() methods.

Examples:: moveAfma4.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, and testRobotAfma4.cpp.

Definition at line 178 of file vpRobotAfma4.h.

Member Enumeration Documentation

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.
JOINT_STATE	Corresponds to the joint state.
END_EFFECTOR_FRAME	Corresponds to robot end-effector frame.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME	Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 75 of file vpRobot.h.

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.

Definition at line 64 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobotAfma4::vpRobotAfma4 ( bool verbose = true )

explicit

The only available constructor.

This contructor calls init() to initialise the connection with the MotionBox or low level controller, power on the robot and wait 1 sec before returning to be sure the initialisation is done.

It also set the robot state to vpRobot::STATE_STOP.

Definition at line 133 of file vpRobotAfma4.cpp.

References defaultPositioningVelocity, init(), setRobotState(), vpRobot::setVerbose(), vpRobot::STATE_STOP, and vpRobot::verbose_.

vpRobotAfma4::~vpRobotAfma4 ( void )

virtual

Destructor.

Free allocated resources.

Definition at line 291 of file vpRobotAfma4.cpp.

References setRobotState(), and vpRobot::STATE_STOP.

Member Function Documentation

void vpRobotAfma4::get_cMe ( vpHomogeneousMatrix & cMe ) const

Get the geometric transformation between the camera frame and the end-effector frame. This transformation is constant and correspond to the extrinsic camera parameters estimated by calibration.

Parameters

cMe	: Transformation between the camera frame and the end-effector frame.

Definition at line 574 of file vpRobotAfma4.cpp.

References vpAfma4::get_cMe().

void vpRobotAfma4::get_cVe ( vpVelocityTwistMatrix & cVe ) const

Get the twist transformation from camera frame to end-effector frame. This transformation allows to compute a velocity expressed in the end-effector frame into the camera frame.

Parameters

cVe	: Twist transformation.

Definition at line 526 of file vpRobotAfma4.cpp.

References vpVelocityTwistMatrix::buildFrom(), and vpAfma4::get_cMe().

void vpAfma4::get_cVf	(	const vpColVector &	q,
		vpVelocityTwistMatrix &	cVf
	)		const

inherited

Get the twist transformation from camera frame to the reference frame. This transformation allows to compute a velocity expressed in the reference frame into the camera frame.

Parameters

q : Articular position of the four joints: q[0] corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q[1] corresponds to the vertical translation (joint 2 with value ), while q[2] and q[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q[0], q[2] and q[3] are expressed in radians. The translation q[1] is expressed in meters.

cVf : Twist transformation.

Definition at line 348 of file vpAfma4.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpAfma4::get_fMc(), and vpHomogeneousMatrix::inverse().

Referenced by get_cVf().

void vpRobotAfma4::get_cVf ( vpVelocityTwistMatrix & cVf ) const

Get the twist transformation from camera frame to the reference frame. This transformation allows to compute a velocity expressed in the reference frame into the camera frame.

Parameters

cVf	: Twist transformation.

Definition at line 543 of file vpRobotAfma4.cpp.

References vpAfma4::get_cVf(), vpAfma4::njoint, and vpERROR_TRACE.

void vpAfma4::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe
	)		const

inherited

Get the robot jacobian expressed in the end-effector frame:

${^e}J_e = \left[\begin{array}{cccc} -c_5(a_1c_4+d_3s_4) & -s_5 & 0 & 0 \\ s_5(a_1c_4+d_3s_4) & -c_5 & 0 & 0 \\ a_1s_4-d_3c_4 & 0 & 0 & 0 \\ -s_5 & 0 & -s_5 & 0 \\ -c_5 & 0 & -c_5 & 0 \\ 0 & 0 & 0 & 1 \\ \end{array} \right]$

Parameters

q : Articular position of the four joints: q[0] corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q[1] corresponds to the vertical translation (joint 2 with value ), while q[2] and q[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q[0], q[2] and q[3] are expressed in radians. The translation q[1] is expressed in meters.

eJe

: Robot jacobian expressed in the end-effector frame, with:

${^e}J_e = \left[\begin{array}{cc} {^f}R_e^T & 0_{3 \times 3} \\ 0_{3 \times 3} & {^f}R_e^T \\ \end{array} \right] {^f}J_e$

See also: get_fJe()

Definition at line 395 of file vpAfma4.cpp.

References vpAfma4::_a1, vpAfma4::_d3, and vpArray2D< Type >::resize().

Referenced by get_eJe().

void vpRobotAfma4::get_eJe ( vpMatrix & eJe )

virtual

Get the robot jacobian expressed in the end-effector frame. To have acces to the analytic form of this jacobian see vpAfma4::get_eJe().

To compute eJe, we communicate with the low level controller to get the articular joint position of the robot.

Parameters

eJe	: Robot jacobian expressed in the end-effector frame.

See also: vpAfma4::get_eJe()

Implements vpRobot.

Definition at line 588 of file vpRobotAfma4.cpp.

References vpAfma4::get_eJe(), vpAfma4::njoint, and vpERROR_TRACE.

void vpAfma4::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe
	)		const

inherited

Get the robot jacobian expressed in the robot reference frame also called fix frame:

${^f}J_e = \left[\begin{array}{cccc} -a_1s_1-d_3c_1 & 0 & 0 & 0 \\ a_1c_1-d_3s_1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 0 & c_{14} \\ 0 & 0 & 0 & s_{14} \\ 1 & 0 & 1 & 0 \\ \end{array} \right]$

Parameters

q : Articular position of the four joints: q[0] corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q[1] corresponds to the vertical translation (joint 2 with value ), while q[2] and q[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q[0], q[2] and q[3] are expressed in radians. The translation q[1] is expressed in meters.

fJe : Robot jacobian expressed in the robot reference frame.

See also: get_eJe() and get_fJe_inverse()

Definition at line 450 of file vpAfma4.cpp.

References vpAfma4::_a1, vpAfma4::_d3, and vpArray2D< Type >::resize().

Referenced by get_fJe().

void vpRobotAfma4::get_fJe ( vpMatrix & fJe )

virtual

Get the robot jacobian expressed in the robot reference frame also called fix frame. To have acces to the analytic form of this jacobian see vpAfma4::get_fJe().

To compute fJe, we communicate with the low level controller to get the articular joint position of the robot.

Parameters

fJe	: Robot jacobian expressed in the reference frame.

See also: vpAfma4::get_fJe()

Implements vpRobot.

Definition at line 624 of file vpRobotAfma4.cpp.

References vpAfma4::get_fJe(), vpAfma4::njoint, and vpERROR_TRACE.

void vpAfma4::get_fJe_inverse	(	const vpColVector &	q,
		vpMatrix &	fJe_inverse
	)		const

inherited

Get the inverse jacobian.

${^f}J_e^+ = \left[\begin{array}{cccccc} -(a_1s_1+d_3c_1)/(a_1^2+d_3^2) & (a_1c_1-d_3s_1)/(a_1^2+d_3^2) & 0&0&0&0 \\ 0 & 0 & 1 & 0 & 0 & 0 \\ (a_1s_1+d_3c_1)/(a_1^2+d_3^2) & -(a_1c_1-d_3s_1)/(a_1^2+d_3^2) & 0&0&0&1 \\ 0 & 0 & 0 & c_{14} & s_{14} & 0 \\ \end{array} \right]$

Parameters

q : Articular position of the four joints: q[0] corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q[1] corresponds to the vertical translation (joint 2 with value ), while q[2] and q[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q[0], q[2] and q[3] are expressed in radians. The translation q[1] is expressed in meters.

fJe_inverse : Inverse robot jacobian expressed in the robot reference frame.

See also: get_eJe() and get_fJe()

Definition at line 506 of file vpAfma4.cpp.

References vpAfma4::_a1, vpAfma4::_d3, and vpArray2D< Type >::resize().

Referenced by setVelocity().

vpHomogeneousMatrix vpAfma4::get_fMc ( const vpColVector & q ) const

inherited

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the four joints.

This method is the same than getForwardKinematics(const vpColVector & q).

Parameters

q : Articular position of the four joints: q[0] corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q[1] corresponds to the vertical translation (joint 2 with value ), while q[2] and q[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q[0], q[2] and q[3] are expressed in radians. The translation q[1] is expressed in meters.

Returns: The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the fix frame and the camera frame ( ${^f}M_c$ ) with:
${^f}M_c = {^f}M_e * {^e}M_c$

See also: getForwardKinematics(const vpColVector & q)

Definition at line 176 of file vpAfma4.cpp.

Referenced by vpAfma4::get_cVf(), vpAfma4::getForwardKinematics(), getPosition(), and getVelocity().

void vpAfma4::get_fMc	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc
	)		const

inherited

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the four joints.

Parameters

q : Articular position of the four joints: q[0] corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q[1] corresponds to the vertical translation (joint 2 with value ), while q[2] and q[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q[0], q[2] and q[3] are expressed in radians. The translation q[1] is expressed in meters.

fMc

: The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the fix frame and the camera frame ( ${^f}M_c$ ) with:

${^f}M_c = {^f}M_e * {^e}M_c$

Definition at line 210 of file vpAfma4.cpp.

References vpAfma4::_eMc, and vpAfma4::get_fMe().

void vpAfma4::get_fMe	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMe
	)		const

inherited

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the end effector with respect to the base frame given the articular positions of all the four variable joints.

Parameters

q : Articular position of the four joints: q[0] corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q[1] corresponds to the vertical translation (joint 2 with value ), while q[2] and q[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q[0], q[2] and q[3] are expressed in radians. The translation q[1] is expressed in meters.

fMe The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the fix frame and the end effector frame ( ${^f}M_e$ ) with

${^f}M_e = \left[\begin{array}{cccc} c_1s_4c_5+s_1c_4c_5 & -c_1s_4s_5-s_1c_4s_5 & c_1c_4-s_1s_4 &a_1c_1-d_3s_1 \\ s_1s_4c_5-c_1c_4c_5 & -s_1s_4s_5+c_1c_4s_5 & s_1c_4+c_1s_4 &a_1s_1+d_3c_1 \\ -s_5 & -c_5 & d_4+q_2 \\ 0 & 0 & 0 & 1 \\ \end{array} \right]$

Definition at line 259 of file vpAfma4.cpp.

References vpAfma4::_a1, vpAfma4::_d3, and vpAfma4::_d4.

Referenced by vpAfma4::get_fMc(), and setVelocity().

void vpRobotAfma4::getDisplacement	(	vpRobot::vpControlFrameType	frame,
		vpColVector &	displacement
	)

virtual

Get the robot displacement since the last call of this method.

Warning: This functionnality is not implemented for the moment in the cartesian space. It is only available in the joint space (vpRobot::ARTICULAR_FRAME).

Parameters

frame	: The frame in which the measured displacement is expressed.
displacement	: The measured displacement since the last call of this method. The dimension of displacement is always 4, the number of joints. Translations are expressed in meters, rotations in radians.

In camera or reference frame, rotations are expressed with the Euler Rxyz representation.

Implements vpRobot.

Definition at line 1689 of file vpRobotAfma4.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpAfma4::njoint, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpERROR_TRACE.

vpHomogeneousMatrix vpAfma4::getForwardKinematics ( const vpColVector & q ) const

inherited

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the four joints.

This method is the same than get_fMc(const vpColVector & q).

Parameters

q : Articular position of the four joints: q[0] corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q[1] corresponds to the vertical translation (joint 2 with value ), while q[2] and q[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q[0], q[2] and q[3] are expressed in radians. The translation q[1] is expressed in meters.

Returns: The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the fix frame and the camera frame ( ${^f}M_c$ ) with:
${^f}M_c = {^f}M_e * {^e}M_c$

See also: get_fMc(const vpColVector & q); getInverseKinematics()

Definition at line 139 of file vpAfma4.cpp.

References vpAfma4::get_fMc().

vpColVector vpAfma4::getJointMax ( ) const

inherited

Get max joint values.

Returns: Maximal joint values for the 4 dof X, Y, A, B. Translation Y is expressed in meters. Rotations X, A and B in radians.

Definition at line 557 of file vpAfma4.cpp.

References vpAfma4::_joint_max.

vpColVector vpAfma4::getJointMin ( ) const

inherited

Get min joint values.

Returns: Minimal joint values for the 4 dof X, Y, A, B. Translation Y is expressed in meters. Rotations X,A and B in radians.

Definition at line 541 of file vpAfma4.cpp.

References vpAfma4::_joint_min.

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 273 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns: Maximum translational velocity expressed in m/s.

Definition at line 251 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

inherited

Return the current robot position in the specified frame.

Definition at line 216 of file vpRobot.cpp.

References vpRobot::getPosition().

void vpRobotAfma4::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	position
	)

virtual

Get the current position of the robot.

Similar as getPosition(const vpRobot::vpControlFrameType frame, vpColVector &, double &).

The difference is here that the timestamp is not used.

Implements vpRobot.

Examples:: moveAfma4.cpp.

Definition at line 1068 of file vpRobotAfma4.cpp.

Referenced by setVelocity().

void vpRobotAfma4::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	position,
		double &	timestamp
	)

Get the current position of the robot.

Parameters

frame	: Control frame type in which to get the position, either : in the camera cartesien frame, joint (articular) coordinates of each axes 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)
position	: Measured position of the robot: in camera cartesien frame, a 6 dimension vector, set to 0. in articular, a 4 dimension vector corresponding to the joint position of each dof. position[0] corresponds to the first rotation of the turret around the vertical axis (joint 1 with value ), while position[1] corresponds to the vertical translation (joint 2 with value ), while position[2] and position[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations position[0], position[2] and position[3] are expressed in radians. The translation q[1] is expressed in meters. 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). The code below show how to convert this position into a vpHomogeneousMatrix:
timestamp	: Time in second since last robot power on.

vpRobotAfma4 robot;
vpColVector r;
robot.getPosition(vpRobot::REFERENCE_FRAME, r);
vpTranslationVector ftc; // reference frame to camera frame translations
vpRxyzVector frc; // reference frame to camera frame rotations
// Update the transformation between reference frame and camera frame
for (int i=0; i < 3; i++) {
  ftc[i] = position[i];   // tx, ty, tz
  frc[i] = position[i+3]; // ry, ry, rz
}
// Create a rotation matrix from the Rxyz rotation angles
vpRotationMatrix fRc(frc); // reference frame to camera frame rotation
matrix
// Create the camera to fix frame pose in terms of a homogeneous matrix
vpHomogeneousMatrix fMc(fRc, ftc);

Exceptions

vpRobotException::lowLevelError : If the position cannot be get from the low level controller.

See also: setPosition(const vpRobot::vpControlFrameType frame, const vpColVector & r)

Definition at line 994 of file vpRobotAfma4.cpp.

References vpRobot::ARTICULAR_FRAME, vpRxyzVector::buildFrom(), vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpHomogeneousMatrix::extract(), vpAfma4::get_fMc(), vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpAfma4::njoint, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpERROR_TRACE.

double vpRobotAfma4::getPositioningVelocity ( void )

Get the maximal velocity percentage used for a position control.

See also: setPositioningVelocity()

Definition at line 679 of file vpRobotAfma4.cpp.

bool vpRobotAfma4::getPowerState ( void )

Get the robot power state indication if power is on or off.

Returns: true if power is on. false if power is off

Exceptions

vpRobotException::lowLevelError : If the low level controller returns an error.

See also: powerOn(), powerOff()

Definition at line 496 of file vpRobotAfma4.cpp.

References vpRobotException::lowLevelError, and vpERROR_TRACE.

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 172 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 144 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotPtu46::setPosition(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpRobotBiclops::setPosition(), vpSimulatorAfma6::setPosition(), setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma6::setPosition(), vpRobotFranka::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFranka::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotPtu46::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorAfma6::setVelocity(), setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotFranka::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().

double vpRobotAfma4::getTime ( ) const

Returns the robot controller current time (in second) since last robot power on.

Definition at line 927 of file vpRobotAfma4.cpp.

void vpRobotAfma4::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	velocity
	)

Get robot velocities.

The behavior is the same than getVelocity(const vpRobot::vpControlFrameType, vpColVector &, double &) except that the timestamp is not returned.

Examples:: servoAfma4Point2DCamVelocityKalman.cpp.

Definition at line 1422 of file vpRobotAfma4.cpp.

Referenced by getVelocity().

void vpRobotAfma4::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	velocity,
		double &	timestamp
	)

Get the robot velocities.

Parameters

frame	: Frame in wich velocities are mesured.
velocity	: Measured velocities. Translations are expressed in m/s and rotations in rad/s.
timestamp	: Time in second since last robot power on.

Warning: In camera frame, reference frame and mixt frame, the representation of the rotation is ThetaU. In that cases, $velocity = [\dot x, \dot y, \dot z, \dot {\theta U}_x, \dot {\theta U}_y, \dot {\theta U}_z]$ .; The first time this method is called, velocity is set to 0. The first call is used to intialise the velocity computation for the next call.

// Set joint velocities
vpColVector q_dot(4);
q_dot[0] = M_PI/8;  // Joint 1 velocity, in rad/s
q_dot[1] = 0.2;     // Joint 2 velocity, in meter/s
q_dot[2] = M_PI/4;  // Joint 4 velocity, in rad/s
q_dot[3] = M_PI/16; // Joint 5 velocity, in rad/s
vpRobotAfma4 robot;
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
// Moves the joint in velocity
robot.setVelocity(vpRobot::ARTICULAR_FRAME, q_dot);
vpColVector q_dot_mes; // Measured velocities
// Initialisation of the velocity measurement
robot.getVelocity(vpRobot::ARTICULAR_FRAME, q_dot_mes); // q_dot_mes =0
// q_dot_mes is resized to 4, the number of joint
double timestamp;
while (1) {
   robot.getVelocity(vpRobot::ARTICULAR_FRAME, q_dot_mes, timestamp);
   vpTime::wait(40); // wait 40 ms
   // here q_dot_mes is equal to [M_PI/8, 0.2, M_PI/4, M_PI/16]
}

Definition at line 1316 of file vpRobotAfma4.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpAfma4::get_fMc(), vpExponentialMap::inverse(), vpHomogeneousMatrix::inverse(), vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpAfma4::njoint, vpRobot::REFERENCE_FRAME, vpColVector::resize(), vpERROR_TRACE, and vpRobotException::wrongStateError.

vpColVector vpRobotAfma4::getVelocity ( const vpRobot::vpControlFrameType frame )

Get robot velocities.

The behavior is the same than getVelocity(const vpRobot::vpControlFrameType, double &) except that the timestamp is not returned.

Definition at line 1483 of file vpRobotAfma4.cpp.

References getVelocity().

vpColVector vpRobotAfma4::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		double &	timestamp
	)

Get the robot velocities.

Parameters

frame	: Frame in wich velocities are mesured.
timestamp	: Time in second since last robot power on.

Returns: Measured velocities. Translations are expressed in m/s and rotations in rad/s.

// Set joint velocities
vpColVector q_dot(4);
q_dot[0] = M_PI/8;  // Joint 1 velocity, in rad/s
q_dot[1] = 0.2;     // Joint 2 velocity, in meter/s
q_dot[2] = M_PI/4;  // Joint 4 velocity, in rad/s
q_dot[3] = M_PI/16; // Joint 5 velocity, in rad/s
vpRobotAfma4 robot;
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
// Moves the joint in velocity
robot.setVelocity(vpRobot::ARTICULAR_FRAME, q_dot);
// Initialisation of the velocity measurement
robot.getVelocity(vpRobot::ARTICULAR_FRAME, q_dot_mes); // q_dot_mes =0
// q_dot_mes is resized to 4, the number of joint
vpColVector q_dot_mes; // Measured velocities
double timestamp;
while (1) {
   q_dot_mes = robot.getVelocity(vpRobot::ARTICULAR_FRAME, timestamp);
   vpTime::wait(40); // wait 40 ms
   // here q_dot_mes is equal to [M_PI/8, 0.2, M_PI/4, M_PI/16]
}

Definition at line 1467 of file vpRobotAfma4.cpp.

References getVelocity().

void vpRobotAfma4::init ( void )

virtual

Initialise the connection with the MotionBox or low level controller, power on the robot and wait 1 sec before returning to be sure the initialisation is done.

Implements vpRobot.

Definition at line 190 of file vpRobotAfma4.cpp.

References vpAfma4::_joint_max, vpAfma4::_joint_min, vpRobotException::constructionError, vpColVector::resize(), vpRobot::verbose_, and vpERROR_TRACE.

Referenced by vpRobotAfma4().

void vpRobotAfma4::move ( const char * filename )

Moves the robot to the joint position specified in the filename. The positioning velocity is set to 10% of the robot maximal velocity.

Parameters

filename File containing a joint position.

See also: readPosFile

Definition at line 1661 of file vpRobotAfma4.cpp.

References vpRobot::ARTICULAR_FRAME, readPosFile(), setPosition(), setPositioningVelocity(), setRobotState(), and vpRobot::STATE_POSITION_CONTROL.

void vpRobotAfma4::powerOff ( void )

Power off the robot.

Exceptions

vpRobotException::lowLevelError : If the low level controller returns an error during robot stopping.

See also: powerOn(), getPowerState()

Definition at line 462 of file vpRobotAfma4.cpp.

References vpRobotException::lowLevelError, and vpERROR_TRACE.

void vpRobotAfma4::powerOn ( void )

Power on the robot.

Exceptions

vpRobotException::lowLevelError : If the low level controller returns an error during robot power on.

See also: powerOff(), getPowerState()

Definition at line 395 of file vpRobotAfma4.cpp.

References vpRobotException::lowLevelError, and vpERROR_TRACE.

Referenced by setRobotState().

bool vpRobotAfma4::readPosFile	(	const std::string &	filename,
		vpColVector &	q
	)

static

Read joint positions in a specific Afma4 position file.

This position file has to start with a header. The six joint positions are given after the "R:" keyword. The first 3 values correspond to the joint translations X,Y,Z expressed in meters. The 3 last values correspond to the joint rotations A,B,C expressed in degres to be more representative for the user. Theses values are then converted in radians in q. The character "#" starting a line indicates a comment.

A typical content of such a file is given below:

#AFMA4 - Position - Version 2.01
# file: "myposition.pos "
#
# R: X Y A B
# Joint position: X : rotation of the turret in degrees (joint 1)
#                 Y : vertical translation in meters (joint 2)
#                 A : pan rotation of the camera in degrees (joint 4)
#                 B : tilt rotation of the camera in degrees (joint 5)
#
R: 45 0.3 -20 30

Parameters

filename	: Name of the position file to read.
q	: Joint positions: X,Y,A,B. Translations Y is expressed in meters, while joint rotations X,A,B in radians.

Returns: true if the positions were successfully readen in the file. false, if an error occurs.

The code below shows how to read a position from a file and move the robot to this position.

vpRobotAfma4 robot;
vpColVector q;        // Joint position robot.
readPosFile("myposition.pos", q); // Set the joint position from the file
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
robot.setPositioningVelocity(5); // Positioning velocity set to 5%
robot.setPosition(vpRobot::ARTICULAR_FRAME, q); // Move to the joint position

See also: savePosFile()

Definition at line 1543 of file vpRobotAfma4.cpp.

References vpAfma4::njoint, vpMath::rad(), vpColVector::resize(), and vpIoTools::splitChain().

Referenced by move(), and setPosition().

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = `false`
	)

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
#include <visp3/robot/vpRobot.h>
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
  return 0;
}

Definition at line 163 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

bool vpRobotAfma4::savePosFile	(	const std::string &	filename,
		const vpColVector &	q
	)

static

Save joint (articular) positions in a specific Afma4 position file.

This position file starts with a header on the first line. After convertion of the rotations in degrees, the joint position q is written on a line starting with the keyword "R: ". See readPosFile() documentation for an example of such a file.

Parameters

filename	: Name of the position file to create.
q	: Joint positions: X,Y,A,B. Translations Y is expressed in meters, while joint rotations X,A,B in radians.

Warning: The joint rotations X,A,B written in the file are converted in degrees to be more representative for the user.

Returns: true if the positions were successfully saved in the file. false, if an error occurs.

See also: readPosFile()

Definition at line 1626 of file vpRobotAfma4.cpp.

References vpMath::deg().

void vpRobot::setMaxRotationVelocity ( const double w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max : Maximum rotational velocity expressed in rad/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, testFeatureSegment.cpp, and testFrankaJointVelocityLimits.cpp.

Definition at line 260 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

void vpRobot::setMaxTranslationVelocity ( const double v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max : Maximum translation velocity expressed in m/s.

Examples:: servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 239 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

void vpRobotAfma4::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	position
	)

virtual

Move to an absolute position with a given percent of max velocity. The percent of max velocity is to set with setPositioningVelocity().

Warning: The position to reach can only be specified in joint space coordinates.

This method owerloads setPosition(const vpRobot::vpControlFrameType, const vpColVector &).

Warning: This method is blocking. It returns only when the position is reached by the robot.

Parameters

position : The joint positions to reach. position[0] corresponds to the first rotation of the turret around the vertical axis (joint 1 with value ), while position[1] corresponds to the vertical translation (joint 2 with value ), while position[2] and position[3] correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations position[0], position[2] and position[3] are expressed in radians. The translation q[1] is expressed in meters.

frame : Frame in which the position is expressed.

Exceptions

vpRobotException::lowLevelError	: vpRobot::MIXT_FRAME and vpRobot::END_EFFECTOR_FRAME not implemented.
vpRobotException::positionOutOfRangeError	: The requested position is out of range.

// Set positions in the joint space
vpColVector q[4];
double q[0] = M_PI/8; // Joint 1, in radian
double q[1] = 0.2;    // Joint 2, in meter
double q[2] = M_PI/4; // Joint 4, in radian
double q[3] = M_PI/8; // Joint 5, in radian
vpRobotAfma4 robot;
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
// Set the max velocity to 20%
robot.setPositioningVelocity(20);
// Moves the robot in the camera frame
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);

Exceptions

vpRobotException::lowLevelError	: If the requested frame (vpRobot::REFERENCE_FRAME, vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME or vpRobot::MIXT_FRAME) are requested since they are not implemented.
vpRobotException::positionOutOfRangeError	: The requested position is out of range.

To catch the exception if the position is out of range, modify the code like:

try {
  robot.setPosition(vpRobot::CAMERA_FRAME, q);
}
catch (vpRobotException &e) {
  if (e.getCode() == vpRobotException::positionOutOfRangeError) {
  std::cout << "The position is out of range" << std::endl;
}

Implements vpRobot.

Examples:: moveAfma4.cpp.

Definition at line 753 of file vpRobotAfma4.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpArray2D< Type >::data, vpRobot::END_EFFECTOR_FRAME, vpRobot::getRobotState(), vpArray2D< Type >::getRows(), vpRobotException::lowLevelError, vpRobot::MIXT_FRAME, vpAfma4::njoint, vpRobotException::positionOutOfRangeError, vpRobot::REFERENCE_FRAME, setRobotState(), vpRobot::STATE_POSITION_CONTROL, and vpERROR_TRACE.

Referenced by move(), and setPosition().

void vpRobotAfma4::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const double	q1,
		const double	q2,
		const double	q4,
		const double	q5
	)

Move to an absolute position with a given percent of max velocity. The percent of max velocity is to set with setPositioningVelocity().

Warning: The position to reach can only be specified in joint space coordinates.

This method owerloads setPosition(const vpRobot::vpControlFrameType, const vpColVector &).

Warning: This method is blocking. It returns only when the position is reached by the robot.

Parameters

q1,q2,q4,q5 : The four joint positions to reach. q1 corresponds to the first rotation (joint 1 with value ) of the turret around the vertical axis, while q2 corresponds to the vertical translation (joint 2 with value ), while q4 and q5 correspond to the pan and tilt of the camera (respectively joint 4 and 5 with values and ). Rotations q1, q4 and q5 are expressed in radians. The translation q2 is expressed in meters.

frame : Frame in which the position is expressed.

Exceptions

vpRobotException::lowLevelError	: vpRobot::MIXT_FRAME and vpRobot::END_EFFECTOR_FRAME not implemented.
vpRobotException::positionOutOfRangeError	: The requested position is out of range.

// Set positions in the camera frame
double q1 = M_PI/8; // Joint 1, in radian
double q2 = 0.2;    // Joint 2, in meter
double q4 = M_PI/4; // Joint 4, in radian
double q5 = M_PI/8; // Joint 5, in radian
vpRobotAfma4 robot;
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
// Set the max velocity to 20%
robot.setPositioningVelocity(20);
// Moves the robot in the camera frame
robot.setPosition(vpRobot::ARTICULAR_FRAME, q1, q2, q4, q5);

See also: setPosition()

Definition at line 862 of file vpRobotAfma4.cpp.

References vpAfma4::njoint, setPosition(), and vpERROR_TRACE.

void vpRobotAfma4::setPosition ( const char * filename )

Move to an absolute joint position with a given percent of max velocity. The robot state is set to position control. The percent of max velocity is to set with setPositioningVelocity(). The position to reach is defined in the position file.

Parameters

filename : Name of the position file to read. The readPosFile() documentation shows a typical content of such a position file.

This method has the same behavior than the sample code given below;

vpColVector q;
robot.readPosFile("MyPositionFilename.pos", q);
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL)
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);

Exceptions

vpRobotException::lowLevelError	: vpRobot::MIXT_FRAME and vpRobot::END_EFFECTOR_FRAME not implemented.
vpRobotException::positionOutOfRangeError	: The requested position is out of range.

See also: setPositioningVelocity()

Definition at line 908 of file vpRobotAfma4.cpp.

References vpRobot::ARTICULAR_FRAME, vpRobotException::lowLevelError, readPosFile(), setPosition(), setRobotState(), vpRobot::STATE_POSITION_CONTROL, and vpERROR_TRACE.

void vpRobotAfma4::setPositioningVelocity ( const double velocity )

Set the maximal velocity percentage to use for a position control.

The default positioning velocity is defined by vpRobotAfma4::defaultPositioningVelocity. This method allows to change this default positioning velocity

Parameters

velocity : Percentage of the maximal velocity. Values should be in ]0:100].

vpColVector q[4]);
q = 0; // position in meter and rad
vpRobotAfma4 robot;
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
// Set the max velocity to 20%
robot.setPositioningVelocity(20);
// Moves the robot to the joint position [0,0,0,0]
robot.setPosition(vpRobot::ARTICULAR_FRAME, q);

See also: getPositioningVelocity()

Definition at line 672 of file vpRobotAfma4.cpp.

Referenced by move().

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType newFrame )

protectedinherited

Definition at line 207 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

vpRobot::vpRobotStateType vpRobotAfma4::setRobotState ( vpRobot::vpRobotStateType newState )

virtual

Change the robot state.

Parameters

newState : New requested robot state.

Reimplemented from vpRobot.

Examples:: moveAfma4.cpp, and servoAfma4Point2DCamVelocityKalman.cpp.

Definition at line 324 of file vpRobotAfma4.cpp.

References vpRobot::getRobotState(), powerOn(), vpRobot::setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, and vpRobot::STATE_VELOCITY_CONTROL.

Referenced by move(), setPosition(), stopMotion(), vpRobotAfma4(), and ~vpRobotAfma4().

void vpRobotAfma4::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel
	)

virtual

Apply a velocity to the robot.

Parameters

frame	: Control frame in which the velocity is expressed. Velocities could be expressed in the joint space or in the camera frame. The reference frame and mixt frame are not implemented.
vel	: Velocity vector. Translation velocities are expressed in m/s while rotation velocities in rad/s. The size of this vector may be 4 (the number of dof) if frame is set to vpRobot::ARTICULAR_FRAME. The size of this vector is 2 when the control is in the camera frame (frame is than set to vpRobot::CAMERA_FRAME).

In articular, $vel = [\dot{q}_1, \dot{q}_2, \dot{q}_3, \dot{q}_4]^t$ where $\dot{q}_1, \dot{q}_3, \dot{q}_4$ correspond to joint velocities in rad/s and $\dot{q}_2$ to the vertical translation velocity in m/s.
In camera frame, $vel = [^{c} t_x, ^{c} t_y, ^{c} t_z,^{c} \omega_x, ^{c} \omega_y]^t, ^{c} \omega_z]^t$ is a velocity twist expressed in the camera frame, with translations velocities $^{c} v_x, ^{c} v_y, ^{c} v_z$ in m/s and rotation velocities $^{c}\omega_x, ^{c} \omega_y, ^{c} \omega_z$ in rad/s. Since only four dof are available, in camera frame we control only the camera pan and tilt. In other words we apply only $^{c}\omega_x, ^{c} \omega_y$ to the robot, even if is a 6-dimension vector.

Exceptions

vpRobotException::wrongStateError : If a the robot is not configured to handle a velocity. The robot can handle a velocity only if the velocity control mode is set. For that, call setRobotState( vpRobot::STATE_VELOCITY_CONTROL) before setVelocity().

Warning: Velocities could be saturated if one of them exceed the maximal autorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity().

// Set joint velocities
vpColVector q_dot(4);
q_dot[0] = M_PI/8; // Joint 1 velocity, in rad/s
q_dot[1] = 0.2;    // Joint 2 velocity, in meter/s
q_dot[2] = M_PI/4; // Joint 4 velocity, in rad/s
q_dot[3] = M_PI/8; // Joint 5 velocity, in rad/s
vpRobotAfma4 robot;
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
// Moves the joint in velocity
robot.setVelocity(vpRobot::ARTICULAR_FRAME, q_dot);

Implements vpRobot.

Examples:: moveAfma4.cpp, and servoAfma4Point2DCamVelocityKalman.cpp.

Definition at line 1127 of file vpRobotAfma4.cpp.

References vpAfma4::_eMc, vpRobot::ARTICULAR_FRAME, vpVelocityTwistMatrix::buildFrom(), vpRobot::CAMERA_FRAME, vpArray2D< Type >::data, vpRobot::eJe, vpRobot::END_EFFECTOR_FRAME, vpHomogeneousMatrix::extract(), vpAfma4::get_fJe_inverse(), vpAfma4::get_fMe(), vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), getPosition(), vpRobot::getRobotState(), vpArray2D< Type >::getRows(), vpRobot::MIXT_FRAME, vpAfma4::njoint, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpRobot::STATE_VELOCITY_CONTROL, vpERROR_TRACE, and vpRobotException::wrongStateError.

void vpRobot::setVerbose ( bool verbose )

inlineinherited

Examples:: tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 159 of file vpRobot.h.

Referenced by vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

void vpRobotAfma4::stopMotion ( void )

Stop the robot and set the robot state to vpRobot::STATE_STOP.

Exceptions

vpRobotException::lowLevelError : If the low level controller returns an error during robot stopping.

Definition at line 373 of file vpRobotAfma4.cpp.

References vpRobotException::lowLevelError, setRobotState(), vpRobot::STATE_STOP, and vpERROR_TRACE.

Member Data Documentation

double vpAfma4::_a1

protectedinherited

Definition at line 146 of file vpAfma4.h.

Referenced by vpAfma4::get_eJe(), vpAfma4::get_fJe(), vpAfma4::get_fJe_inverse(), vpAfma4::get_fMe(), and vpAfma4::vpAfma4().

double vpAfma4::_d3

protectedinherited

Definition at line 147 of file vpAfma4.h.

Referenced by vpAfma4::get_eJe(), vpAfma4::get_fJe(), vpAfma4::get_fJe_inverse(), vpAfma4::get_fMe(), and vpAfma4::vpAfma4().

double vpAfma4::_d4

protectedinherited

Definition at line 148 of file vpAfma4.h.

Referenced by vpAfma4::get_fMe(), and vpAfma4::vpAfma4().

vpHomogeneousMatrix vpAfma4::_eMc

protectedinherited

Definition at line 156 of file vpAfma4.h.

Referenced by vpAfma4::get_cMe(), vpAfma4::get_fMc(), setVelocity(), and vpAfma4::vpAfma4().

vpRxyzVector vpAfma4::_erc

protectedinherited

Definition at line 154 of file vpAfma4.h.

Referenced by vpAfma4::vpAfma4().

vpTranslationVector vpAfma4::_etc

protectedinherited

Definition at line 153 of file vpAfma4.h.

Referenced by vpAfma4::vpAfma4().

double vpAfma4::_joint_max[4]

protectedinherited

Definition at line 149 of file vpAfma4.h.

Referenced by vpAfma4::getJointMax(), init(), and vpAfma4::vpAfma4().

double vpAfma4::_joint_min[4]

protectedinherited

Definition at line 150 of file vpAfma4.h.

Referenced by vpAfma4::getJointMin(), init(), and vpAfma4::vpAfma4().

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by vpRobot::operator=(), vpRobotCamera::vpRobotCamera(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

const double vpRobotAfma4::defaultPositioningVelocity = 15.0

static

Default positioning velocity in percentage of the maximum velocity. This value is set to 15. The member function setPositioningVelocity() allows to change this value.

Definition at line 218 of file vpRobotAfma4.h.

Referenced by vpRobotAfma4().

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 104 of file vpRobot.h.

Referenced by vpSimulatorCamera::get_eJe(), vpRobotCamera::get_eJe(), vpRobot::operator=(), setVelocity(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().