40 #ifndef vpRobotViper650_h 41 #define vpRobotViper650_h 43 #include <visp3/core/vpConfig.h> 45 #ifdef VISP_HAVE_VIPER650 50 #include <visp3/core/vpColVector.h> 51 #include <visp3/core/vpDebug.h> 52 #include <visp3/robot/vpRobot.h> 53 #include <visp3/robot/vpViper650.h> 57 #include "irisa_Viper650.h" 377 static bool robotAlreadyCreated;
379 double positioningVelocity;
384 double time_prev_getvel;
385 bool first_time_getvel;
390 bool first_time_getdis;
391 vpControlModeType controlMode;
398 void biasForceTorqueSensor()
const;
400 void closeGripper()
const;
402 void disableJoint6Limits()
const;
403 void enableJoint6Limits()
const;
415 double getMaxRotationVelocityJoint6()
const;
422 double getPositioningVelocity(
void)
const;
423 bool getPowerState()
const;
425 double getTime()
const;
444 void move(
const std::string &filename);
451 static bool readPosFile(
const std::string &filename,
vpColVector &q);
452 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
458 void setMaxRotationVelocityJoint6(
double w6_max);
463 const double pos4,
const double pos5,
const double pos6);
465 void setPositioningVelocity(
const double velocity);
475 double maxRotationVelocity_joint6;
void get_cVe(vpVelocityTwistMatrix &cVe) const
static const double defaultPositioningVelocity
Implementation of a matrix and operations on matrices.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Control of Irisa's Viper S650 robot named Viper650.
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
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.
Automatic control mode (default).
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
vpCameraParametersProjType
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Modelisation of the ADEPT Viper 650 robot.
vpToolType
List of possible tools that can be attached to the robot end-effector.
void setMaxRotationVelocity(const double maxVr)
void get_cMe(vpHomogeneousMatrix &cMe) const
Implementation of column vector and the associated operations.
Implementation of a pose vector and operations on poses.
Implementation of a rotation vector as Euler angle minimal representation.
vpControlModeType getControlMode() const
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Class that consider the case of a translation vector.