#include <visp3/robot/vpViper650.h>

Inheritance diagram for vpViper650:

Public Types
enum	vpToolType { TOOL_MARLIN_F033C_CAMERA, TOOL_PTGREY_FLEA2_CAMERA, TOOL_SCHUNK_GRIPPER_CAMERA, TOOL_GENERIC_CAMERA, TOOL_CUSTOM }

Public Member Functions
	vpViper650 ()

virtual	~vpViper650 ()

Inherited functionalities from vpViper650
void	init (void)

void	init (const std::string &camera_extrinsic_parameters)

void	init (vpViper650::vpToolType tool, vpCameraParameters::vpCameraParametersProjType projModel=vpCameraParameters::perspectiveProjWithoutDistortion)

void	init (vpViper650::vpToolType tool, const std::string &filename)

void	init (vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_)

vpCameraParameters::vpCameraParametersProjType	getCameraParametersProjType () const

void	getCameraParameters (vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const

void	getCameraParameters (vpCameraParameters &cam, const vpImage< unsigned char > &I) const

void	getCameraParameters (vpCameraParameters &cam, const vpImage< vpRGBa > &I) const

vpToolType	getToolType () const

void	parseConfigFile (const std::string &filename)

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

unsigned int	getInverseKinematicsWrist (const vpHomogeneousMatrix &fMw, vpColVector &q, const bool &verbose=false) const

unsigned int	getInverseKinematics (const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &verbose=false) const

vpHomogeneousMatrix	get_fMc (const vpColVector &q) const

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

void	get_fMw (const vpColVector &q, vpHomogeneousMatrix &fMw) const

void	get_wMe (vpHomogeneousMatrix &wMe) const

void	get_eMc (vpHomogeneousMatrix &eMc) const

void	get_eMs (vpHomogeneousMatrix &eMs) const

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

void	get_cMe (vpHomogeneousMatrix &cMe) const

void	get_cVe (vpVelocityTwistMatrix &cVe) const

void	get_fJw (const vpColVector &q, vpMatrix &fJw) const

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

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

virtual void	set_eMc (const vpHomogeneousMatrix &eMc_)

virtual void	set_eMc (const vpTranslationVector &etc_, const vpRxyzVector &erc_)

vpColVector	getJointMin () const

vpColVector	getJointMax () const

double	getCoupl56 () const

Static Public Attributes
static const std::string	CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME

static const std::string	CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME

static const std::string	CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME

static const std::string	CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME

static const std::string	CONST_CAMERA_FILENAME

static const char *const	CONST_MARLIN_F033C_CAMERA_NAME = "Marlin-F033C-12mm"

static const char *const	CONST_PTGREY_FLEA2_CAMERA_NAME = "PTGrey-Flea2-6mm"

static const char *const	CONST_SCHUNK_GRIPPER_CAMERA_NAME = "Schunk-Gripper-PTGrey-Flea2-6mm"

static const char *const	CONST_GENERIC_CAMERA_NAME = "Generic-camera"

static const vpToolType	defaultTool = vpViper650::TOOL_PTGREY_FLEA2_CAMERA

static const unsigned int	njoint = 6

Protected Member Functions
Protected Member Functions Inherited from vpViper650
void	setToolType (vpViper650::vpToolType tool)

Protected Attributes
vpToolType	tool_current

vpCameraParameters::vpCameraParametersProjType	projModel

vpHomogeneousMatrix	eMc

vpTranslationVector	etc

vpRxyzVector	erc

double	a1

double	d1

double	a2

double	a3

double	d4

double	d6

double	d7

double	c56

vpColVector	joint_max

vpColVector	joint_min

Detailed Description

Modelisation of the ADEPT Viper 650 robot.

The model of the robot is the following:

Model of the Viper 650 robot.

The non modified Denavit-Hartenberg representation of the robot is given in the table below, where $q_1^*, \ldots, q_6^*$ are the variable joint positions.

$\begin{tabular}{|c|c|c|c|c|} \hline Joint & $a_i$ & $d_i$ & $\alpha_i$ & $\theta_i$ \\ \hline 1 & $a_1$ & $d_1$ & $-\pi/2$ & $q_1^*$ \\ 2 & $a_2$ & 0 & 0 & $q_2^*$ \\ 3 & $a_3$ & 0 & $-\pi/2$ & $q_3^* - \pi$ \\ 4 & 0 & $d_4$ & $\pi/2$ & $q_4^*$ \\ 5 & 0 & 0 & $-\pi/2$ & $q_5^*$ \\ 6 & 0 & 0 & 0 & $q_6^*-\pi$ \\ 7 & 0 & $d_6$ & 0 & 0 \\ \hline \end{tabular}$

In this modelisation, different frames have to be considered.

${\cal F}_f$ : the reference frame, also called world frame
${\cal F}_w$ : the wrist frame located at the intersection of the last three rotations, with $^f{\bf M}_w = ^0{\bf M}_6$
${\cal F}_e$ : the end-effector frame located at the interface of the two tool changers, with $^f{\bf M}_e = 0{\bf M}_7$
${\cal F}_c$ : the camera or tool frame, with $^f{\bf M}_c = ^f{\bf M}_e \; ^e{\bf M}_c$ where $^e{\bf M}_c$ is the result of a calibration stage. We can also consider a custom tool TOOL_CUSTOM and set this tool during robot initialisation or using set_eMc().
${\cal F}_s$ : the force/torque sensor frame, with .

Examples:: testViper650.cpp.

Definition at line 102 of file vpViper650.h.

Member Enumeration Documentation

enum vpViper650::vpToolType

List of possible tools that can be attached to the robot end-effector.

Enumerator
TOOL_MARLIN_F033C_CAMERA	Marlin F033C camera.
TOOL_PTGREY_FLEA2_CAMERA	Point Grey Flea 2 camera.
TOOL_SCHUNK_GRIPPER_CAMERA	Camera attached to the Schunk gripper.
TOOL_GENERIC_CAMERA	A generic camera.
TOOL_CUSTOM	A user defined tool.

Definition at line 127 of file vpViper650.h.

Constructor & Destructor Documentation

vpViper650::vpViper650 ( )

Default constructor. Sets the specific parameters like the Denavit Hartenberg parameters.

Definition at line 102 of file vpViper650.cpp.

References vpViper::a1, vpViper::a2, vpViper::a3, vpViper::c56, vpViper::d1, vpViper::d4, vpViper::d6, init(), vpViper::joint_max, vpViper::joint_min, and vpMath::rad().

virtual vpViper650::~vpViper650 ( )

inlinevirtual

Definition at line 139 of file vpViper650.h.

References vpCameraParameters::perspectiveProjWithoutDistortion.

Member Function Documentation

void vpViper::get_cMe ( vpHomogeneousMatrix & cMe ) const

inherited

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.

See also: get_eMc()

Definition at line 922 of file vpViper.cpp.

References vpViper::eMc, and vpHomogeneousMatrix::inverse().

Referenced by vpSimulatorViper850::get_cMe(), vpRobotViper650::get_cMe(), vpRobotViper850::get_cMe(), vpViper::get_cVe(), vpSimulatorViper850::get_cVe(), vpRobotViper650::get_cVe(), vpRobotViper850::get_cVe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpSimulatorViper850::getPositioningVelocity().

void vpViper::get_cVe ( vpVelocityTwistMatrix & cVe ) const

inherited

Get the twist transformation $^c{\bf V}_e$ from camera frame to end-effector frame. This transformation allows to compute a velocity expressed in the end-effector frame into the camera frame.

$^c{\bf V}_e = \left(\begin{array}{cc} ^c{\bf R}_e & [^c{\bf t}_e]_\times ^c{\bf R}_e\\ {\bf 0}_{3\times 3} & ^c{\bf R}_e \end{array} \right)$

Parameters

cVe	: Twist transformation $^c{\bf V}_e$ .

Definition at line 938 of file vpViper.cpp.

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

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpSimulatorViper850::getPositioningVelocity().

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

inherited

Get the robot jacobian ${^e}{\bf J}_e$ which gives the velocity of the origin of the end-effector frame expressed in end-effector frame.

${^e}{\bf J}_e = \left[\begin{array}{cc} {^w}{\bf R}_f & {[{^e}{\bf t}_w}]_\times \; {^w}{\bf R}_f \\ 0_{3\times3} & {^w}{\bf R}_f \end{array} \right] \; {^f}{\bf J}_w$

Parameters

q	: A six-dimension vector that contains the joint positions of the robot expressed in radians.
eJe	: Robot jacobian ${^e}{\bf J}_e$ that express the velocity of the end-effector in the robot end-effector frame.

See also: get_fJw()

Definition at line 970 of file vpViper.cpp.

References vpHomogeneousMatrix::extract(), vpViper::get_fJw(), vpViper::get_fMw(), vpViper::get_wMe(), vpRotationMatrix::inverse(), vpHomogeneousMatrix::inverse(), and vpTranslationVector::skew().

Referenced by vpSimulatorViper850::computeArticularVelocity(), vpSimulatorViper850::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), and vpSimulatorViper850::getVelocity().

void vpViper::get_eMc ( vpHomogeneousMatrix & eMc_ ) const

inherited

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

Parameters

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

See also: get_cMe()

Examples:: servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, and servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp.

Definition at line 894 of file vpViper.cpp.

References vpViper::eMc.

Referenced by vpViper::getInverseKinematics().

void vpViper::get_eMs ( vpHomogeneousMatrix & eMs ) const

inherited

Get the geometric transformation between the end-effector frame and the force/torque sensor frame. This transformation is constant.

Parameters

eMs	: Transformation between the the end-effector frame and the force/torque sensor frame.

Definition at line 905 of file vpViper.cpp.

References vpViper::d7, and vpHomogeneousMatrix::eye().

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

inherited

Get the robot jacobian ${^f}{\bf J}_e$ which gives the velocity of the origin of the end-effector frame expressed in the robot reference frame also called fix frame.

${^f}{\bf J}_e = \left[\begin{array}{cc} I_{3\times3} & [{^f}{\bf R}_w \; {^e}{\bf t}_w]_\times \\ 0_{3\times3} & I_{3\times3} \end{array} \right] {^f}{\bf J}_w$

Parameters

q	: A six-dimension vector that contains the joint positions of the robot expressed in radians.
fJe	: Robot jacobian ${^f}{\bf J}_e$ that express the velocity of the end-effector in the robot reference frame.

See also: get_fJw

Definition at line 1159 of file vpViper.cpp.

References vpHomogeneousMatrix::extract(), vpViper::get_fJw(), vpViper::get_fMw(), vpViper::get_wMe(), and vpHomogeneousMatrix::inverse().

Referenced by vpSimulatorViper850::computeArticularVelocity(), vpSimulatorViper850::get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), and vpSimulatorViper850::getVelocity().

void vpViper::get_fJw	(	const vpColVector &	q,
		vpMatrix &	fJw
	)		const

inherited

Get the robot jacobian ${^f}{\bf J}_w$ which express the velocity of the origin of the wrist frame in the robot reference frame also called fix frame.

${^f}J_w = \left(\begin{array}{cccccc} J_{11} & J_{12} & J_{13} & 0 & 0 & 0 \\ J_{21} & J_{22} & J_{23} & 0 & 0 & 0 \\ 0 & J_{32} & J_{33} & 0 & 0 & 0 \\ 0 & -s1 & -s1 & c1s23 & J_{45} & J_{46} \\ 0 & c1 & c1 & s1s23 & J_{55} & J_{56} \\ 1 & 0 & 0 & c23 & s23s4 & J_{56} \\ \end{array} \right)$

with

$\begin{array}{l} J_{11} = -s1(-c23a3+s23d4+a1+a2c2) \\ J_{21} = c1(-c23a3+s23d4+a1+a2c2) \\ J_{12} = c1(s23a3+c23d4-a2s2) \\ J_{22} = s1(s23a3+c23d4-a2s2) \\ J_{32} = c23a3-s23d4-a2c2 \\ J_{13} = c1(a3(s2c3+c2s3)+(-s2s3+c2c3)d4)\\ J_{23} = s1(a3(s2c3+c2s3)+(-s2s3+c2c3)d4)\\ J_{33} = -a3(s2s3-c2c3)-d4(s2c3+c2s3)\\ J_{45} = -c23c1s4-s1c4\\ J_{55} = c1c4-c23s1s4\\ J_{46} = (c1c23c4-s1s4)s5+c1s23c5\\ J_{56} = (s1c23c4+c1s4)s5+s1s23c5\\ J_{66} = -s23c4s5+c23c5\\ \end{array}$

Parameters

q	: A six-dimension vector that contains the joint positions of the robot expressed in radians.
fJw	: Robot jacobian ${^f}{\bf J}_w$ that express the velocity of the point w (origin of the wrist frame) in the robot reference frame.

See also: get_fJe(), get_eJe()

Definition at line 1054 of file vpViper.cpp.

References vpViper::a1, vpViper::a2, vpViper::a3, vpViper::d4, and vpArray2D< Type >::resize().

Referenced by vpViper::get_eJe(), and vpViper::get_fJe().

vpHomogeneousMatrix vpViper::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 joint positions of all the six joints.

$^f{\bf M}_c = ^f{\bf M}_e \; ^e{\bf M}_c$

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

Parameters

q	: Vector of six joint positions expressed in radians.

Returns: The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the base frame and the camera frame (fMc).

See also: getForwardKinematics(const vpColVector & q), get_fMe(), get_eMc()

Examples:: testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, and testRobotViper850Pose.cpp.

Definition at line 600 of file vpViper.cpp.

Referenced by vpSimulatorViper850::compute_fMi(), vpViper::getForwardKinematics(), vpSimulatorViper850::getPosition(), vpRobotViper650::getPosition(), vpRobotViper850::getPosition(), vpRobotViper650::getVelocity(), vpRobotViper850::getVelocity(), vpSimulatorViper850::setPosition(), vpRobotViper650::setPosition(), and vpRobotViper850::setPosition().

void vpViper::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 six joint positions.

$^f{\bf M}_c = ^f{\bf M}_e \; {^e}{\bf M}_c$

Parameters

q	: Vector of six joint positions expressed in radians.
fMc	The homogeneous matrix $^f{\bf M}_c$ corresponding to the direct geometric model which expresses the transformation between the fix frame and the camera frame.

See also: get_fMe(), get_eMc()

Definition at line 629 of file vpViper.cpp.

References vpViper::eMc, and vpViper::get_fMe().

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

inherited

Compute the forward kinematics (direct geometric model) as an homogeneous matrix ${^f}{\bf M}_e$ .

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

${^f}M_e = \left(\begin{array}{cccc} r_{11} & r_{12} & r_{13} & t_x \\ r_{21} & r_{22} & r_{23} & t_y \\ r_{31} & r_{32} & r_{33} & t_z \\ \end{array} \right)$

with

$\begin{array}{l} r_{11} = c1(c23(c4c5c6-s4s6)-s23s5c6)-s1(s4c5c6+c4s6) \\ r_{21} = -s1(c23(-c4c5c6+s4s6)+s23s5c6)+c1(s4c5c6+c4s6) \\ r_{31} = s23(s4s6-c4c5c6)-c23s5c6 \\ \\ r_{12} = -c1(c23(c4c5s6+s4c6)-s23s5s6)+s1(s4c5s6-c4c6)\\ r_{22} = -s1(c23(c4c5s6+s4c6)-s23s5s6)-c1(s4c5s6-c4c6)\\ r_{32} = s23(c4c5s6+s4c6)+c23s5s6\\ \\ r_{13} = c1(c23c4s5+s23c5)-s1s4s5\\ r_{23} = s1(c23c4s5+s23c5)+c1s4s5\\ r_{33} = -s23c4s5+c23c5\\ \\ t_x = c1(c23(c4s5d6-a3)+s23(c5d6+d4)+a1+a2c2)-s1s4s5d6\\ t_y = s1(c23(c4s5d6-a3)+s23(c5d6+d4)+a1+a2c2)+c1s4s5d6\\ t_z = s23(a3-c4s5d6)+c23(c5d6+d4)-a2s2+d1\\ \end{array}$

Parameters

q	: A 6-dimension vector that contains the 6 joint positions expressed in radians.
fMe	The homogeneous matrix ${^f}{\bf M}_e$ corresponding to the direct geometric model which expresses the transformation between the fix frame and the end effector frame.

Note that this transformation can also be computed by considering the wrist frame ${^f}{\bf M}_e = {^f}{\bf M}_w *{^w}{\bf M}_e$ .

#include <visp3/robot/vpViper.h>
int main()
{
  vpViper robot;
  vpColVector q(6); // The measured six joint positions
  vpHomogeneousMatrix fMe; // Transformation from fix frame to end-effector
  robot.get_fMe(q, fMe); // Get the forward kinematics
  // The forward kinematics can also be computed by considering the wrist frame
  vpHomogeneousMatrix fMw; // Transformation from fix frame to wrist frame
  robot.get_fMw(q, fMw);
  vpHomogeneousMatrix wMe; // Transformation from wrist frame to end-effector
  robot.get_wMe(wMe); // Constant transformation
  // Compute the forward kinematics
  fMe = fMw * wMe;
}

Examples:: testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testViper650.cpp, and testViper850.cpp.

Definition at line 715 of file vpViper.cpp.

References vpViper::a1, vpViper::a2, vpViper::a3, vpViper::d1, vpViper::d4, and vpViper::d6.

Referenced by vpViper::get_fMc().

void vpViper::get_fMw	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMw
	)		const

inherited

Compute the transformation between the fix frame and the wrist frame. The wrist frame is located on the intersection of the 3 last rotations.

Parameters

q	: A 6-dimension vector that contains the 6 joint positions expressed in radians.
fMw	The homogeneous matrix corresponding to the transformation between the fix frame and the wrist frame (fMw).

${^f}M_w = \left(\begin{array}{cccc} r_{11} & r_{12} & r_{13} & t_x \\ r_{21} & r_{22} & r_{23} & t_y \\ r_{31} & r_{32} & r_{33} & t_z \\ \end{array} \right)$

with

$\begin{array}{l} r_{11} = c1(c23(c4c5c6-s4s6)-s23s5c6)-s1(s4c5c6+c4s6) \\ r_{21} = -s1(c23(-c4c5c6+s4s6)+s23s5c6)+c1(s4c5c6+c4s6) \\ r_{31} = s23(s4s6-c4c5c6)-c23s5c6 \\ \\ r_{12} = -c1(c23(c4c5s6+s4c6)-s23s5s6)+s1(s4c5s6-c4c6)\\ r_{22} = -s1(c23(c4c5s6+s4c6)-s23s5s6)-c1(s4c5s6-c4c6)\\ r_{32} = s23(c4c5s6+s4c6)+c23s5s6\\ \\ r_{13} = c1(c23c4s5+s23c5)-s1s4s5\\ r_{23} = s1(c23c4s5+s23c5)+c1s4s5\\ r_{33} = -s23c4s5+c23c5\\ \\ t_x = c1(-c23a3+s23d4+a1+a2c2)\\ t_y = s1(-c23a3+s23d4+a1+a2c2)\\ t_z = s23a3+c23d4-a2s2+d1\\ \end{array}$

Examples:: testRobotViper650-frames.cpp, and testRobotViper850-frames.cpp.

Definition at line 810 of file vpViper.cpp.

References vpViper::a1, vpViper::a2, vpViper::a3, vpViper::d1, and vpViper::d4.

Referenced by vpViper::get_eJe(), and vpViper::get_fJe().

void vpViper::get_wMe ( vpHomogeneousMatrix & wMe ) const

inherited

Return the transformation between the wrist frame and the end-effector. The wrist frame is located on the intersection of the 3 last rotations.

Parameters

wMe	The homogeneous matrix corresponding to the transformation between the wrist frame and the end-effector frame (wMe).

Definition at line 874 of file vpViper.cpp.

References vpViper::d6, and vpHomogeneousMatrix::eye().

Referenced by vpViper::get_eJe(), vpViper::get_fJe(), and vpViper::getInverseKinematics().

void vpViper650::getCameraParameters	(	vpCameraParameters &	cam,
		const unsigned int &	image_width,
		const unsigned int &	image_height
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Warning: This method needs XML library to parse the file defined in vpViper650::CONST_CAMERA_FILENAME and containing the camera parameters. If XML is detected by ViSP, VISP_HAVE_XML2 macro is defined in include/visp3/core/vpConfig.h file.; Thid method needs also an access to the files containing the camera parameters in XML format. This access is available if VISP_HAVE_VIPER650_DATA macro is defined in include/visp3/core/vpConfig.h file.

If VISP_HAVE_VIPER650_DATA and VISP_HAVE_XML2 macros are defined, this method gets the camera parameters from const_camera_Viper650.xml config file.
If these two macros are not defined, this method set the camera parameters to default one.

Parameters

cam	: In output, camera parameters to fill.
image_width	: Image width used to compute camera calibration.
image_height	: Image height used to compute camera calibration.

The code below shows how to get the camera parameters of the camera attached to the robot.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/robot/vpRobotViper650.h>
#include <visp3/robot/vpViper650.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
int main()
{
  vpImage<unsigned char> I(480, 640);
#ifdef VISP_HAVE_DC1394
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
#endif
#ifdef VISP_HAVE_VIPER650
  vpRobotViper650 robot;
#else
  vpViper650 robot;
#endif
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  // Camera parameters are read from
  // /udd/fspindle/robot/Viper650/current/include/const_camera_Viper650.xml
  // if VISP_HAVE_VIPER650_DATA and VISP_HAVE_XML2 macros are defined
  // in vpConfig.h file
  try {
    robot.getCameraParameters (cam, I.getWidth(), I.getHeight());
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Examples:: servoViper650FourPoints2DArtVelocityInteractionCurrent.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent.cpp, servoViper650Point2DCamVelocity.cpp, and testViper650.cpp.

Definition at line 539 of file vpViper650.cpp.

References vpException::badValue, CONST_CAMERA_FILENAME, CONST_GENERIC_CAMERA_NAME, CONST_MARLIN_F033C_CAMERA_NAME, CONST_PTGREY_FLEA2_CAMERA_NAME, CONST_SCHUNK_GRIPPER_CAMERA_NAME, getToolType(), vpCameraParameters::initPersProjWithDistortion(), vpCameraParameters::initPersProjWithoutDistortion(), vpXmlParserCamera::parse(), vpCameraParameters::perspectiveProjWithDistortion, vpCameraParameters::perspectiveProjWithoutDistortion, projModel, vpRobotException::readingParametersError, vpXmlParserCamera::SEQUENCE_OK, TOOL_CUSTOM, TOOL_GENERIC_CAMERA, TOOL_MARLIN_F033C_CAMERA, TOOL_PTGREY_FLEA2_CAMERA, TOOL_SCHUNK_GRIPPER_CAMERA, vpERROR_TRACE, and vpTRACE.

Referenced by getCameraParameters().

void vpViper650::getCameraParameters	(	vpCameraParameters &	cam,
		const vpImage< unsigned char > &	I
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Warning: This method needs XML library to parse the file defined in vpViper650::CONST_CAMERA_FILENAME and containing the camera parameters. If XML is detected by ViSP, VISP_HAVE_XML2 macro is defined in include/visp3/core/vpConfig.h file.; Thid method needs also an access to the files containing the camera parameters in XML format. This access is available if VISP_HAVE_VIPER650_DATA macro is defined in include/visp3/core/vpConfig.h file.

If VISP_HAVE_VIPER650_DATA and VISP_HAVE_XML2 macros are defined, this method gets the camera parameters from const_camera_Viper650.xml config file.
If these two macros are not defined, this method set the camera parameters to default one.

Parameters

cam	: In output, camera parameters to fill.
I	: A B&W image send by the current camera in use.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/robot/vpRobotViper650.h>
#include <visp3/robot/vpViper650.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
int main()
{
  vpImage<unsigned char> I(480, 640);
#ifdef VISP_HAVE_DC1394
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
#endif
#ifdef VISP_HAVE_VIPER650
  vpRobotViper650 robot;
#else
  vpViper650 robot;
#endif
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  try {
    robot.getCameraParameters (cam, I);
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Definition at line 739 of file vpViper650.cpp.

References getCameraParameters(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

void vpViper650::getCameraParameters	(	vpCameraParameters &	cam,
		const vpImage< vpRGBa > &	I
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Warning: This method needs XML library to parse the file defined in vpViper650::CONST_CAMERA_FILENAME and containing the camera parameters. If XML is detected by ViSP, VISP_HAVE_XML2 macro is defined in include/visp3/core/vpConfig.h file.; Thid method needs also an access to the files containing the camera parameters in XML format. This access is available if VISP_HAVE_VIPER650_DATA macro is defined in include/visp3/core/vpConfig.h file.

If VISP_HAVE_VIPER650_DATA and VISP_HAVE_XML2 macros are defined, this method gets the camera parameters from const_camera_Viper650.xml config file.
If these two macros are not defined, this method set the camera parameters to default one.

Parameters

cam	: In output, camera parameters to fill.
I	: A color image send by the current camera in use.

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/robot/vpRobotViper650.h>
#include <visp3/robot/vpViper650.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
int main()
{
  vpImage<vpRGBa> I(480, 640);
#ifdef VISP_HAVE_DC1394
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
#endif
#ifdef VISP_HAVE_VIPER650
  vpRobotViper650 robot;
#else
  vpViper650 robot;
#endif
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  try {
    robot.getCameraParameters (cam, I);
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Definition at line 807 of file vpViper650.cpp.

References getCameraParameters(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

vpCameraParameters::vpCameraParametersProjType vpViper650::getCameraParametersProjType ( ) const

inline

Get the current camera model projection type.

Definition at line 152 of file vpViper650.h.

double vpViper::getCoupl56 ( ) const

inherited

Return the coupling factor between join 5 and joint 6.

This factor should be only useful when motor positions are considered. Since the positions returned by the robot are joint positions which takes into account the coupling factor, it has not to be considered in the modelization of the robot.

Definition at line 1220 of file vpViper.cpp.

References vpViper::c56.

vpHomogeneousMatrix vpViper::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 six joint positions.

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

Parameters

q	: A six dimension vector corresponding to the robot joint positions expressed in radians.

Returns: The homogeneous matrix $^f{\bf M}_c$ corresponding to the direct geometric model which expresses the transformation between the base frame and the camera frame.

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

Definition at line 121 of file vpViper.cpp.

References vpViper::get_fMc(), vpViper::joint_max, and vpViper::joint_min.

unsigned int vpViper::getInverseKinematics	(	const vpHomogeneousMatrix &	fMc,
		vpColVector &	q,
		const bool &	verbose = `false`
	)		const

inherited

Compute the inverse kinematics (inverse geometric model).

By inverse kinematics we mean here the six joint values given the position and the orientation of the camera frame relative to the base frame.

Parameters

fMc	: Homogeneous matrix $^f{\bf M}_c$ describing the transformation from base frame to the camera frame.
q	: In input, a six dimension vector corresponding to the current joint positions expressed in radians. In output, the solution of the inverse kinematics, ie. the joint positions corresponding to $^f{\bf M}_c$ .
verbose	: Add extra printings.

Returns: Add printings if no solution was found.; The number of solutions (1 to 8) of the inverse geometric model. O, if no solution can be found.

The code below shows how to compute the inverse geometric model:

vpColVector q1(6), q2(6);
vpHomogeneousMatrix fMc;
vpViper robot;
// Get the current joint position of the robot
robot.getPosition(vpRobot::ARTICULAR_FRAME, q1);
// Compute the pose of the camera in the reference frame using the
// direct geometric model
fMc = robot.getForwardKinematics(q1);
// this is similar to  fMc = robot.get_fMc(q1);
// or robot.get_fMc(q1, fMc);
// Compute the inverse geometric model
int nbsol; // number of solutions (0, 1 to 8) of the inverse geometric model
// get the nearest solution to the current joint position
nbsol = robot.getInverseKinematics(fMc, q1);
if (nbsol == 0)
  std::cout << "No solution of the inverse geometric model " << std::endl;
else if (nbsol >= 1)
  std::cout << "Nearest solution: " << q1 << std::endl;

See also: getForwardKinematics(), getInverseKinematicsWrist

Examples:: testRobotViper650-frames.cpp, and testRobotViper850-frames.cpp.

Definition at line 563 of file vpViper.cpp.

References vpViper::get_eMc(), vpViper::get_wMe(), vpViper::getInverseKinematicsWrist(), and vpHomogeneousMatrix::inverse().

Referenced by vpSimulatorViper850::initialiseCameraRelativeToObject(), vpSimulatorViper850::setPosition(), vpRobotViper650::setPosition(), and vpRobotViper850::setPosition().

unsigned int vpViper::getInverseKinematicsWrist	(	const vpHomogeneousMatrix &	fMw,
		vpColVector &	q,
		const bool &	verbose = `false`
	)		const

inherited

Compute the inverse kinematics (inverse geometric model).

By inverse kinematics we mean here the six joint values given the position and the orientation of the camera frame relative to the base frame.

Parameters

fMw	: Homogeneous matrix $^f{\bf M}_w$ describing the transformation from base frame to the wrist frame.
q	: In input, a six dimension vector corresponding to the current joint positions expressed in radians. In output, the solution of the inverse kinematics, ie. the joint positions corresponding to $^f{\bf M}_w$ .
verbose	: Add extra printings.

Returns: Add printings if no solution was found.; The number of solutions (1 to 8) of the inverse geometric model. O, if no solution can be found.

The code below shows how to compute the inverse geometric model:

vpColVector q1(6), q2(6);
vpHomogeneousMatrix fMw;
vpViper robot;
// Get the current joint position of the robot
robot.getPosition(vpRobot::ARTICULAR_FRAME, q1);
// Compute the pose of the wrist in the reference frame using the
// direct geometric model
robot.get_fMw(q1, fMw);
// Compute the inverse geometric model
int nbsol; // number of solutions (0, 1 to 8) of the inverse geometric model
// get the nearest solution to the current joint position
nbsol = robot.getInverseKinematicsWrist(fMw, q1);
if (nbsol == 0)
  std::cout << "No solution of the inverse geometric model " << std::endl;
else if (nbsol >= 1)
  std::cout << "Nearest solution: " << q1 << std::endl;

See also: getForwardKinematics(), getInverseKinematics()

Definition at line 222 of file vpViper.cpp.

References vpViper::a1, vpViper::a2, vpViper::a3, vpViper::d1, vpViper::d4, vpArray2D< Type >::getRows(), vpViper::njoint, vpMath::rad(), vpColVector::resize(), and vpMath::sqr().

Referenced by vpViper::getInverseKinematics().

vpColVector vpViper::getJointMax ( ) const

inherited

Get maximal joint values.

Returns: A 6-dimension vector that contains the maximal joint values for the 6 dof. All the values are expressed in radians.

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, and servoViper850Point2DArtVelocity-jointAvoidance-large.cpp.

Definition at line 1208 of file vpViper.cpp.

References vpViper::joint_max.

vpColVector vpViper::getJointMin ( ) const

inherited

Get minimal joint values.

Returns: A 6-dimension vector that contains the minimal joint values for the 6 dof. All the values are expressed in radians.

Examples:: servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, and servoViper850Point2DArtVelocity-jointAvoidance-large.cpp.

Definition at line 1199 of file vpViper.cpp.

References vpViper::joint_min.

vpToolType vpViper650::getToolType ( ) const

inline

Get the current tool type.

Definition at line 160 of file vpViper650.h.

Referenced by getCameraParameters().

void vpViper650::init ( void )

Initialize the robot with the default tool vpViper650::defaultTool.

Examples:: testViper650.cpp.

Definition at line 135 of file vpViper650.cpp.

References defaultTool.

Referenced by init(), vpRobotViper650::init(), and vpViper650().

void vpViper650::init ( const std::string & camera_extrinsic_parameters )

Read files containing the constant parameters related to the robot tools in order to set the end-effector to tool transformation.

Parameters

camera_extrinsic_parameters : Filename containing the camera extrinsic parameters.

Definition at line 150 of file vpViper650.cpp.

References parseConfigFile().

void vpViper650::init	(	vpViper650::vpToolType	tool,
		vpCameraParameters::vpCameraParametersProjType	proj_model = `vpCameraParameters::perspectiveProjWithoutDistortion`
	)

Set the constant parameters related to the robot kinematics and to the end-effector to camera transformation ( $^e{\bf M}c$ ) corresponding to the camera extrinsic parameters. These last parameters depend on the camera and projection model in use and are loaded from predefined files or parameters.

Warning: If the macro VISP_HAVE_VIPER650_DATA is defined in vpConfig.h this function reads the camera extrinsic parameters from the file corresponding to the specified camera type and projection type. Otherwise corresponding default parameters are loaded.

Parameters

tool	: Camera in use.
proj_model	: Projection model of the camera.

See also: init(vpViper650::vpToolType, const std::string&), init(vpViper650::vpToolType, const vpHomogeneousMatrix&)

Definition at line 179 of file vpViper650.cpp.

void vpViper650::init	(	vpViper650::vpToolType	tool,
		const std::string &	filename
	)

Set the type of tool attached to the robot and transformation between the end-effector and the tool ( $^e{\bf M}c$ ). This last parameter is loaded from a file.

Parameters

tool	: Type of tool in use.
filename	: Path of the configuration file containing the transformation between the end-effector frame and the tool frame.

The configuration file should have the form below:

# Start with any number of consecutive lines
# beginning with the symbol '#'
#
# The 3 following lines contain the name of the camera,
# the rotation parameters of the geometric transformation
# using the Euler angles in degrees with convention XYZ and
# the translation parameters expressed in meters
CAMERA CameraName
eMc_ROT_XYZ 10.0 -90.0 20.0
eMc_TRANS_XYZ  0.05 0.01 0.06

See also: init(vpViper650::vpToolType, vpCameraParameters::vpCameraParametersProjType), init(vpViper650::vpToolType, const vpHomogeneousMatrix&)

Definition at line 361 of file vpViper650.cpp.

References parseConfigFile(), and setToolType().

void vpViper650::init	(	vpViper650::vpToolType	tool,
		const vpHomogeneousMatrix &	eMc_
	)

Set the type of tool attached to the robot and the transformation between the end-effector and the tool ( $^e{\bf M}c$ ).

Parameters

tool	: Type of tool in use.
eMc_	: Homogeneous matrix representation of the transformation between the end-effector frame and the tool frame.

See also: init(vpViper650::vpToolType, vpCameraParameters::vpCameraParametersProjType), init(vpViper650::vpToolType, const std::string&)

Definition at line 382 of file vpViper650.cpp.

References vpViper::set_eMc(), and setToolType().

void vpViper650::parseConfigFile ( const std::string & filename )

This function gets the robot constant parameters from a file.

Parameters

filename : File name containing the robot constant parameters, like the hand-to-eye transformation.

Definition at line 396 of file vpViper650.cpp.

References vpViper::erc, vpViper::etc, vpRobotException::readingParametersError, and vpViper::set_eMc().

Referenced by init().

void vpViper::set_eMc ( const vpHomogeneousMatrix & eMc_ )

virtualinherited

Set the geometric transformation between the end-effector frame and the tool frame (commonly a camera).

Parameters

eMc_	: Transformation between the end-effector frame and the tool frame.

Reimplemented in vpRobotViper850, and vpRobotViper650.

Definition at line 1230 of file vpViper.cpp.

References vpRxyzVector::buildFrom(), vpViper::eMc, vpViper::erc, vpViper::etc, and vpHomogeneousMatrix::extract().

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), init(), vpViper850::init(), parseConfigFile(), vpViper850::parseConfigFile(), vpRobotViper650::set_eMc(), and vpRobotViper850::set_eMc().

void vpViper::set_eMc	(	const vpTranslationVector &	etc_,
		const vpRxyzVector &	erc_
	)

virtualinherited

Set the geometric transformation between the end-effector frame and the tool frame (commonly a camera frame).

Parameters

etc_	: Translation between the end-effector frame and the tool frame.
erc_	: Rotation between the end-effector frame and the tool frame using the Euler angles in radians with the XYZ convention.

Reimplemented in vpRobotViper850, and vpRobotViper650.

Definition at line 1248 of file vpViper.cpp.

References vpHomogeneousMatrix::buildFrom(), vpViper::eMc, vpViper::erc, and vpViper::etc.

void vpViper650::setToolType ( vpViper650::vpToolType tool )

inlineprotected

Set the current tool type.

Definition at line 169 of file vpViper650.h.

Referenced by init().

Member Data Documentation

double vpViper::a1

protectedinherited

Definition at line 163 of file vpViper.h.

Referenced by vpSimulatorViper850::compute_fMi(), vpViper::get_fJw(), vpViper::get_fMe(), vpViper::get_fMw(), vpViper::getInverseKinematicsWrist(), vpSimulatorViper850::singularityTest(), vpViper::vpViper(), vpViper650(), and vpViper850::vpViper850().

double vpViper::a2

protectedinherited

for joint 2

Definition at line 164 of file vpViper.h.

Referenced by vpSimulatorViper850::compute_fMi(), vpViper::get_fJw(), vpViper::get_fMe(), vpViper::get_fMw(), vpViper::getInverseKinematicsWrist(), vpSimulatorViper850::singularityTest(), vpViper::vpViper(), vpViper650(), and vpViper850::vpViper850().

double vpViper::a3

protectedinherited

for joint 3

Definition at line 165 of file vpViper.h.

Referenced by vpSimulatorViper850::compute_fMi(), vpViper::get_fJw(), vpViper::get_fMe(), vpViper::get_fMw(), vpViper::getInverseKinematicsWrist(), vpSimulatorViper850::singularityTest(), vpViper::vpViper(), vpViper650(), and vpViper850::vpViper850().

double vpViper::c56

protectedinherited

Mechanical coupling between joint 5 and joint 6.

Definition at line 169 of file vpViper.h.

Referenced by vpViper::getCoupl56(), vpViper::vpViper(), vpViper650(), and vpViper850::vpViper850().

const std::string vpViper650::CONST_CAMERA_FILENAME

static

Initial value:

=

std::string(VISP_VIPER650_DATA_PATH) + std::string("/include/const_camera_Viper650.xml")

Definition at line 116 of file vpViper650.h.

Referenced by getCameraParameters().

const std::string vpViper650::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_VIPER650_DATA_PATH) + std::string("/include/const_eMc_generic_with_distortion_Viper650.cnf")

Definition at line 115 of file vpViper650.h.

Referenced by init().

const std::string vpViper650::CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_VIPER650_DATA_PATH) + std::string("/include/const_eMc_generic_without_distortion_Viper650.cnf")

Definition at line 114 of file vpViper650.h.

Referenced by init().

const std::string vpViper650::CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_VIPER650_DATA_PATH) + std::string("/include/const_eMc_MarlinF033C_with_distortion_Viper650.cnf")

Definition at line 109 of file vpViper650.h.

Referenced by init().

const std::string vpViper650::CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=
    std::string(VISP_VIPER650_DATA_PATH) +
    std::string("/include/const_eMc_MarlinF033C_without_distortion_Viper650.cnf")

Files where constant tranformation between end-effector and camera frame are stored.

Definition at line 108 of file vpViper650.h.

Referenced by init().

const std::string vpViper650::CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_VIPER650_DATA_PATH) + std::string("/include/const_eMc_PTGreyFlea2_with_distortion_Viper650.cnf")

Definition at line 111 of file vpViper650.h.

Referenced by init().

const std::string vpViper650::CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=
    std::string(VISP_VIPER650_DATA_PATH) +
    std::string("/include/const_eMc_PTGreyFlea2_without_distortion_Viper650.cnf")

Definition at line 110 of file vpViper650.h.

Referenced by init().

const std::string vpViper650::CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME

static

Initial value:

=
    std::string(VISP_VIPER650_DATA_PATH) +
    std::string("/include/const_eMc_schunk_gripper_with_distortion_Viper650.cnf")

Definition at line 113 of file vpViper650.h.

Referenced by init().

const std::string vpViper650::CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=
    std::string(VISP_VIPER650_DATA_PATH) + std::string("/include/"
                                                       "const_eMc_schunk_gripper_without_distortion_Viper650."
                                                       "cnf")

Definition at line 112 of file vpViper650.h.

Referenced by init().

const char *const vpViper650::CONST_GENERIC_CAMERA_NAME = "Generic-camera"

static

Definition at line 124 of file vpViper650.h.

Referenced by getCameraParameters().

const char *const vpViper650::CONST_MARLIN_F033C_CAMERA_NAME = "Marlin-F033C-12mm"

static

Name of the camera attached to the end-effector.

Definition at line 121 of file vpViper650.h.

Referenced by getCameraParameters().

const char *const vpViper650::CONST_PTGREY_FLEA2_CAMERA_NAME = "PTGrey-Flea2-6mm"