Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
vpRobotBiclops.h
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30  *
31  * Description:
32  * Interface for the Biclops robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #ifdef VISP_HAVE_BICLOPS
42 
43 #ifndef _vpRobotBiclops_h_
44 #define _vpRobotBiclops_h_
45 
46 /* ------------------------------------------------------------------------ */
47 /* --- INCLUDES ----------------------------------------------------------- */
48 /* ------------------------------------------------------------------------ */
49 
50 /* --- GENERAL --- */
51 #include <iostream>
52 #include <pthread.h>
53 #include <stdio.h>
54 
55 /* --- ViSP --- */
56 #include <visp3/core/vpColVector.h>
57 #include <visp3/core/vpVelocityTwistMatrix.h>
58 #include <visp3/robot/vpBiclops.h>
59 #include <visp3/robot/vpRobot.h>
60 #include <visp3/robot/vpRobotBiclopsController.h>
61 
62 /* ------------------------------------------------------------------------ */
63 /* --- CLASS -------------------------------------------------------------- */
64 /* ------------------------------------------------------------------------ */
65 
94 class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
95 {
96 private:
97  static bool robotAlreadyCreated;
98  pthread_t control_thread;
99 
100  std::string configfile; // Biclops config file
101 
102  vpRobotBiclopsController controller;
103 
104  double positioningVelocity;
105  vpColVector q_previous;
106  bool controlThreadCreated;
107 
108  // private:
109  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
110  // /*! \brief No copy constructor allowed. */
111  // vpRobotBiclops(const vpRobotBiclops &)
112  // : vpBiclops(), vpRobot(), control_thread(), controller(),
113  // positioningVelocity(0), q_previous(), controlThreadCreated(false)
114  // {
115  // throw vpException(vpException::functionNotImplementedError, "Not
116  // implemented!");
117  // }
118  // vpRobotBiclops &operator=(const vpRobotBiclops &){
119  // throw vpException(vpException::functionNotImplementedError, "Not
120  // implemented!"); return *this;
121  // }
122  //#endif
123 
124 public:
125  static const double defaultPositioningVelocity;
126 
127  vpRobotBiclops(void);
128  explicit vpRobotBiclops(const std::string &filename);
129  virtual ~vpRobotBiclops(void);
130 
131  void init(void);
132 
133  void get_cMe(vpHomogeneousMatrix &_cMe) const;
134  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
135  void get_eJe(vpMatrix &_eJe);
136  void get_fJe(vpMatrix &_fJe);
137 
140  double getPositioningVelocity(void);
141  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
142  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
143 
144  bool readPositionFile(const std::string &filename, vpColVector &q);
145 
146  void setConfigFile(const std::string &filename = "/usr/share/BiclopsDefault.cfg");
147  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
148  void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
149  void setPosition(const char *filename);
150  void setPositioningVelocity(const double velocity);
152  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot);
153 
154  void stopMotion();
155 
156  static void *vpRobotBiclopsSpeedControlLoop(void *arg);
157 };
158 
159 #endif /* #ifndef _vpRobotBiclops_h_ */
160 
161 #endif
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:77
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Definition: vpBiclops.cpp:312
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Class that defines a generic virtual robot.
Definition: vpRobot.h:58
vpControlFrameType
Definition: vpRobot.h:75
static const double defaultPositioningVelocity
No copy constructor allowed.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
vpRobotStateType
Definition: vpRobot.h:64
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Interface for the biclops, pan, tilt head control.
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpBiclops.cpp:394
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpBiclops.cpp:360
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
void init(void)
Definition: vpBiclops.cpp:282
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:157