vpRobotBiclops.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Interface for the Biclops robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_BICLOPS

#ifndef _vpRobotBiclops_h_
#define _vpRobotBiclops_h_

/* ------------------------------------------------------------------------ */
/* --- INCLUDES ----------------------------------------------------------- */
/* ------------------------------------------------------------------------ */

/* --- GENERAL --- */
#include <iostream>
#include <pthread.h>
#include <stdio.h>

/* --- ViSP --- */
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/robot/vpBiclops.h>
#include <visp3/robot/vpRobot.h>
#include <visp3/robot/vpRobotBiclopsController.h>

/* ------------------------------------------------------------------------ */
/* --- CLASS -------------------------------------------------------------- */
/* ------------------------------------------------------------------------ */

class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
{
private:
  static bool robotAlreadyCreated;
  pthread_t control_thread;

  std::string configfile; // Biclops config file

  vpRobotBiclopsController controller;

  double positioningVelocity;
  vpColVector q_previous;
  bool controlThreadCreated;

  // private:
  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
  //  /*! \brief No copy constructor allowed.   */
  //  vpRobotBiclops(const vpRobotBiclops &)
  //    : vpBiclops(), vpRobot(), control_thread(), controller(),
  //      positioningVelocity(0), q_previous(), controlThreadCreated(false)
  //  {
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!");
  //  }
  //  vpRobotBiclops &operator=(const vpRobotBiclops &){
  //    throw vpException(vpException::functionNotImplementedError, "Not
  //    implemented!"); return *this;
  //  }
  //#endif

public:
  static const double defaultPositioningVelocity;

  vpRobotBiclops(void);
  explicit vpRobotBiclops(const std::string &filename);
  virtual ~vpRobotBiclops(void);

  void init(void);

  void get_cMe(vpHomogeneousMatrix &_cMe) const;
  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
  void get_eJe(vpMatrix &_eJe);
  void get_fJe(vpMatrix &_fJe);

  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &d);
  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q);
  double getPositioningVelocity(void);
  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);

  bool readPositionFile(const std::string &filename, vpColVector &q);

  void setConfigFile(const std::string &filename = "/usr/share/BiclopsDefault.cfg");
  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
  void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
  void setPosition(const char *filename);
  void setPositioningVelocity(const double velocity);
  vpRobot::vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);
  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot);

  void stopMotion();

  static void *vpRobotBiclopsSpeedControlLoop(void *arg);
};

#endif /* #ifndef _vpRobotBiclops_h_ */

#endif