vpRobotFlirPtu Class Reference

#include <visp3/robot/vpRobotFlirPtu.h>

Inheritance diagram for vpRobotFlirPtu:

Public Types
enum	vpRobotStateType {   STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL,   STATE_FORCE_TORQUE_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
	vpRobotFlirPtu ()
virtual	~vpRobotFlirPtu ()
void	connect (const std::string &portname, int baudrate=9600)
void	disconnect ()
void	get_eJe (vpMatrix &eJe)
vpMatrix	get_eJe ()
void	get_fJe (vpMatrix &fJe)
vpMatrix	get_fJe ()
vpMatrix	get_fMe ()
vpHomogeneousMatrix	get_eMc () const
vpVelocityTwistMatrix	get_cVe () const
void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)
std::string	getNetworkIP ()
std::string	getNetworkGateway ()
std::string	getNetworkHostName ()
void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)
vpColVector	getPanPosLimits ()
vpColVector	getTiltPosLimits ()
vpColVector	getPanTiltVelMax ()
void	reset ()
void	set_eMc (vpHomogeneousMatrix &eMc)
void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)
void	setPanPosLimits (const vpColVector &pan_limits)
void	setTiltPosLimits (const vpColVector &tilt_limits)
void	setPositioningVelocity (double velocity)
vpRobot::vpRobotStateType	setRobotState (vpRobot::vpRobotStateType newState)
void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void	stopMotion ()
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 (double maxVr)
void	setMaxTranslationVelocity (double maxVt)
void	setVerbose (bool verbose)

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

Protected Member Functions
void	init ()
void	getLimits ()
void	getJointPosition (vpColVector &q)
void	setCartVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &v)
void	setJointVelocity (const vpColVector &qdot)
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)
vpControlFrameType	getRobotFrame (void) const

Protected Attributes
vpHomogeneousMatrix	m_eMc
struct cerial *	m_cer
uint16_t	m_status
std::vector< int >	m_pos_max_tics
std::vector< int >	m_pos_min_tics
std::vector< int >	m_vel_max_tics
std::vector< double >	m_res
bool	m_connected
int	m_njoints
double	m_positioning_velocity
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

Interface for FLIR pan-tilt units compatible with FLIR PTU-SDK.

Note

We strongly recommend to communicate with the PTU using network interface. We experienced communication issues using serial communication.

Warning

On Unix-like OS, if you experienced the following error when running servoFlirPtu.cpp:

Failed to open /dev/ttyUSB0: Permission denied.

1. Add users to the "dialout" group:

   $ sudo adduser <username> dialout

2. Reboot

Again on Unix-like OS, if you experienced the following error during ViSP build:

<your path>/sdk-x.y.z/libcpi.a(cerial.o): relocation R_X86_64_PC32 against symbol `serposix' can not be used when
making a shared object; recompile with -fPIC 

1. Enter FLIR PTU SDK folder and modify config.mk to add -fPIC build flag

   $ cat <your path>/sdk-x.y.y/config.mk
   CFLAGS=-g -Wall -Werror -DLITTLE_ENDIAN -O2 -fPIC

2. Rebuild PTU-SDK

   $ cd <your path>/sdk-x.y.y
   $ make clean
   $ make

3. Rebuild ViSP

   $ cd $VISP_WS/visp-build
   $ make -j4

See also

Tutorial: Visual servoing with FLIR Pan Tilt Unit

Examples:

servoFlirPtuIBVS.cpp, testRobotFlirPtu.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 96 of file vpRobotFlirPtu.h.

Member Enumeration Documentation

vpControlFrameType

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.

vpRobotStateType

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.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 64 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobotFlirPtu()

vpRobotFlirPtu::vpRobotFlirPtu

(

)

Default constructor.

Definition at line 112 of file vpRobotFlirPtu.cpp.

References emergencyStop(), and init().

~vpRobotFlirPtu()

vpRobotFlirPtu::~vpRobotFlirPtu ( )

virtual

Destructor.

Definition at line 130 of file vpRobotFlirPtu.cpp.

References disconnect(), and stopMotion().

Member Function Documentation

connect()

void vpRobotFlirPtu::connect	(	const std::string &	portname,
		int	baudrate = 9600
	)

Connect to FLIR PTU.

Parameters

[in]	portname	: Connect to serial/socket.
[in]	baudrate	: Use baud rate (default: 9600).

See also

disconnect()

Examples:

servoFlirPtuIBVS.cpp, testRobotFlirPtu.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 531 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, getLimits(), m_cer, m_connected, and m_status.

disconnect()

void vpRobotFlirPtu::disconnect

(

)

Close connection to PTU.

See also

connect()

Definition at line 600 of file vpRobotFlirPtu.cpp.

References m_cer, and m_connected.

Referenced by connect(), getJointPosition(), getLimits(), getNetworkGateway(), getNetworkHostName(), getNetworkIP(), getPanPosLimits(), getPanTiltVelMax(), getTiltPosLimits(), setJointVelocity(), setPanPosLimits(), setPosition(), setTiltPosLimits(), and ~vpRobotFlirPtu().

emergencyStop()

void vpRobotFlirPtu::emergencyStop ( int  signo )

static

Emergency stops the robot if the program is interrupted by a SIGINT (CTRL C), SIGSEGV (segmentation fault), SIGBUS (bus error), SIGKILL or SIGQUIT signal.

Definition at line 65 of file vpRobotFlirPtu.cpp.

References vpRobotException::signalException.

Referenced by vpRobotFlirPtu().

get_cVe()

vpVelocityTwistMatrix vpRobotFlirPtu::get_cVe

(

)

const

Return the velocity twist transformation matrix from camera frame to end-effector frame. This transformation allows to transform a velocity twist expressed in the end-effector frame into the camera frame thanks to the homogeneous matrix eMc set using set_eMc().

Returns

Velocity twist transformation.

See also

set_eMc(), get_eMc()

Examples:

servoFlirPtuIBVS.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 239 of file vpRobotFlirPtu.cpp.

References vpVelocityTwistMatrix::buildFrom(), vpHomogeneousMatrix::inverse(), and m_eMc.

get_eJe() [1/2]

void vpRobotFlirPtu::get_eJe ( vpMatrix &  eJe )

virtual

Get the robot Jacobian expressed in the end-effector frame.

Parameters

[out]

eJe

: End-effector frame Jacobian.

See also

get_fJe()

Implements vpRobot.

Examples:

servoFlirPtuIBVS.cpp, testRobotFlirPtu.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 168 of file vpRobotFlirPtu.cpp.

References get_eJe().

get_eJe() [2/2]

vpMatrix vpRobotFlirPtu::get_eJe

(

)

Get the robot Jacobian expressed in the end-effector frame.

Returns

End-effector frame Jacobian.

See also

get_fJe()

Definition at line 149 of file vpRobotFlirPtu.cpp.

References vpRobot::eJe, getPosition(), vpRobot::JOINT_STATE, and vpArray2D< Type >::resize().

Referenced by get_eJe().

get_eMc()

vpHomogeneousMatrix vpRobotFlirPtu::get_eMc ( ) const

inline

Return constant transformation between end-effector and tool frame. If your tool is a camera, this transformation is obtained by hand-eye calibration.

Definition at line 115 of file vpRobotFlirPtu.h.

References vpRobot::getDisplacement(), and vpRobot::getPosition().

get_fJe() [1/2]

void vpRobotFlirPtu::get_fJe ( vpMatrix &  fJe )

virtual

Get the robot Jacobian expressed in the robot reference frame.

Parameters

[out]

fJe

: Base (or reference) frame Jacobian.

See also

get_fJe()

Implements vpRobot.

Definition at line 196 of file vpRobotFlirPtu.cpp.

References get_fJe().

get_fJe() [2/2]

vpMatrix vpRobotFlirPtu::get_fJe

(

)

Get the robot Jacobian expressed in the robot reference frame.

Returns

Base (or reference) frame Jacobian.

See also

get_eJe()

Definition at line 176 of file vpRobotFlirPtu.cpp.

References vpRobot::fJe, getPosition(), vpRobot::JOINT_STATE, and vpArray2D< Type >::resize().

Referenced by get_fJe().

get_fMe()

vpMatrix vpRobotFlirPtu::get_fMe

(

)

Get the robot geometric model corresponding to the homogeneous transformation between base (or reference) frame and end-effector frame.

Returns

Homogeneous transformation between base (or reference) frame and end-effector frame.

Definition at line 202 of file vpRobotFlirPtu.cpp.

References getPosition(), and vpRobot::JOINT_STATE.

getDisplacement()

void vpRobotFlirPtu::getDisplacement ( const vpRobot::vpControlFrameType  frame, vpColVector &  q  )

virtual

Get a displacement.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[out]	q	: Displacement in meter and rad.

Implements vpRobot.

Definition at line 518 of file vpRobotFlirPtu.cpp.

getJointPosition()

void vpRobotFlirPtu::getJointPosition ( vpColVector &  q )

protected

Get robot joint positions.

Parameters

[in]

q

: Joint position as a 2-dim vector [pan, tilt] with values in radians.

Definition at line 412 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_cer, m_connected, m_status, and vpColVector::resize().

Referenced by getPosition().

getLimits()

void vpRobotFlirPtu::getLimits ( )

protected

Read min/max position and speed.

Definition at line 613 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_cer, m_connected, m_pos_max_tics, m_pos_min_tics, m_res, m_status, and m_vel_max_tics.

Referenced by connect().

getMaxRotationVelocity()

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(), vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

getMaxTranslationVelocity()

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(), vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

getNetworkGateway()

std::string vpRobotFlirPtu::getNetworkGateway

(

)

When connected to the PTU by serial, get the PTU network gateway.

See also

getNetworkIP()

Examples:

servoFlirPtuIBVS.cpp, testRobotFlirPtu.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 886 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_cer, m_connected, and m_status.

getNetworkHostName()

std::string vpRobotFlirPtu::getNetworkHostName

(

)

When connected to the PTU, get the PTU network hostname.

See also

getNetworkIP()

Examples:

servoFlirPtuIBVS.cpp, testRobotFlirPtu.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 906 of file vpRobotFlirPtu.cpp.

References vpMath::deg(), disconnect(), vpException::fatalError, m_cer, m_connected, m_res, m_status, and vpMath::rad().

getNetworkIP()

std::string vpRobotFlirPtu::getNetworkIP

(

)

When connected to the PTU by serial, get the PTU network IP address.

See also

getNetworkGateway()

Examples:

servoFlirPtuIBVS.cpp, testRobotFlirPtu.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 866 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_cer, m_connected, and m_status.

getPanPosLimits()

vpColVector vpRobotFlirPtu::getPanPosLimits

(

)

Return pan axis min and max position limits in radians as a 2-dim vector, with first value the pan min position and second value, the pan max position.

See also

getTiltPosLimits(), getPanTiltVelMax(), setPanPosLimits()

Examples:

testRobotFlirPtu.cpp.

Definition at line 650 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_connected, m_pos_max_tics, and m_pos_min_tics.

getPanTiltVelMax()

vpColVector vpRobotFlirPtu::getPanTiltVelMax

(

)

Return pan/tilt axis max velocity in rad/s as a 2-dim vector, with first value the pan max velocity and second value, the max tilt velocity.

See also

getPanPosLimits(), getTiltPosLimits()

Examples:

testRobotFlirPtu.cpp.

Definition at line 688 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_connected, and m_vel_max_tics.

getPosition() [1/2]

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

virtual

Get robot position.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[out]	q	: Position of the arm.

Implements vpRobot.

Examples:

testRobotFlirPtu.cpp.

Definition at line 441 of file vpRobotFlirPtu.cpp.

References getJointPosition(), and vpRobot::JOINT_STATE.

Referenced by get_eJe(), get_fJe(), and get_fMe().

getPosition() [2/2]

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().

getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void  ) const

inlineprotectedinherited

Definition at line 172 of file vpRobot.h.

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

getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void  ) const

inlinevirtualinherited

Definition at line 144 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotPtu46::setPosition(), vpRobotBiclops::setPosition(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpSimulatorAfma6::setPosition(), vpRobotAfma4::setPosition(), vpSimulatorViper850::setPosition(), vpRobotAfma6::setPosition(), vpRobotFranka::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFranka::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotTemplate::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotBiclops::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), stopMotion(), vpSimulatorAfma6::stopMotion(), vpSimulatorViper850::stopMotion(), vpRobotFranka::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().

getTiltPosLimits()

vpColVector vpRobotFlirPtu::getTiltPosLimits

(

)

Return tilt axis min and max position limits in radians as a 2-dim vector, with first value the tilt min position and second value, the tilt max position.

See also

getPanPosLimits(), getPanTiltVelMax(), setTiltPosLimits()

Examples:

testRobotFlirPtu.cpp.

Definition at line 669 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_connected, m_pos_max_tics, and m_pos_min_tics.

init()

void vpRobotFlirPtu::init ( void  )

protectedvirtual

Basic initialization.

Implements vpRobot.

Definition at line 97 of file vpRobotFlirPtu.cpp.

References vpRobot::maxRotationVelocity, vpRobot::maxRotationVelocityDefault, vpRobot::maxTranslationVelocity, vpRobot::maxTranslationVelocityDefault, and vpRobot::nDof.

Referenced by vpRobotFlirPtu().

reset()

void vpRobotFlirPtu::reset

(

)

Reset PTU axis.

Examples:

testRobotFlirPtu.cpp.

Definition at line 832 of file vpRobotFlirPtu.cpp.

References vpException::fatalError, m_cer, m_connected, and m_status.

saturateVelocities()

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 vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

set_eMc()

void vpRobotFlirPtu::set_eMc ( vpHomogeneousMatrix &  eMc )

inline

Set constant transformation between end-effector and tool frame. If your tool is a camera, this transformation is obtained by hand-eye calibration.

Examples:

servoFlirPtuIBVS.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 135 of file vpRobotFlirPtu.h.

References vpRobot::init(), vpRobot::setPosition(), vpRobot::setRobotState(), and vpRobot::setVelocity().

setCartVelocity()

void vpRobotFlirPtu::setCartVelocity ( const vpRobot::vpControlFrameType  frame, const vpColVector &  v  )

protected

Send to the controller a 6-dim velocity skew vector expressed in a Cartesian frame.

Parameters

[in]	frame	: Cartesian control frame (either tool frame or end-effector) in which the velocity v is expressed. Units are m/s for translation and rad/s for rotation velocities.
[in]	v	: 6-dim vector that contains the 6 components of the velocity skew to send to the robot. Units are m/s and rad/s.

Definition at line 259 of file vpRobotFlirPtu.cpp.

References vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, vpRobot::JOINT_STATE, m_eMc, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpArray2D< Type >::size(), and vpRobot::TOOL_FRAME.

Referenced by setVelocity().

setJointVelocity()

void vpRobotFlirPtu::setJointVelocity ( const vpColVector &  qdot )

protected

Send a joint velocity to the controller.

Parameters

[in]

qdot

: Joint velocities vector. Units are rad/s for a robot arm.

Definition at line 321 of file vpRobotFlirPtu.cpp.

References vpMath::deg(), disconnect(), vpException::fatalError, m_cer, m_connected, m_status, and m_vel_max_tics.

Referenced by setVelocity().

setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( 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, testFrankaJointVelocityLimits.cpp, and testRobotFlirPtu.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().

setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( 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().

setPanPosLimits()

void vpRobotFlirPtu::setPanPosLimits

(

const vpColVector &

pan_limits

)

Modify pan position limit.

Parameters

pan_limits

: 2-dim vector that contains pan min and max limits in rad.

See also

getPanPosLimits()

Examples:

testRobotFlirPtu.cpp.

Definition at line 707 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_cer, m_connected, m_status, and vpArray2D< Type >::size().

setPosition()

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

virtual

Set a position to reach.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[in]	q	: Position to reach.

Implements vpRobot.

Examples:

testRobotFlirPtu.cpp.

Definition at line 455 of file vpRobotFlirPtu.cpp.

References vpMath::deg(), disconnect(), vpException::fatalError, vpRobot::JOINT_STATE, m_cer, m_connected, m_njoints, m_pos_max_tics, m_pos_min_tics, m_positioning_velocity, m_status, m_vel_max_tics, and vpArray2D< Type >::size().

setPositioningVelocity()

void vpRobotFlirPtu::setPositioningVelocity

(

double

velocity

)

Set the velocity used for a position control.

Parameters

velocity

: Velocity in % of the maximum velocity between [0, 100]. Default value is 20.

Examples:

testRobotFlirPtu.cpp.

Definition at line 767 of file vpRobotFlirPtu.cpp.

References m_positioning_velocity.

setRobotFrame()

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().

setRobotState()

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

virtual

Change the robot state.

Parameters

newState

: New requested robot state if the robot is connected. If the robot is not connected, we return the current state.

Reimplemented from vpRobot.

Examples:

servoFlirPtuIBVS.cpp, testRobotFlirPtu.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 776 of file vpRobotFlirPtu.cpp.

References vpException::fatalError, vpRobot::getRobotState(), m_cer, m_connected, m_status, vpRobot::setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, and stopMotion().

setTiltPosLimits()

void vpRobotFlirPtu::setTiltPosLimits

(

const vpColVector &

tilt_limits

)

Modify tilt position limit.

Parameters

tilt_limits

: 2-dim vector that contains tilt min and max limits in rad.

See also

getPanPosLimits()

Examples:

testRobotFlirPtu.cpp.

Definition at line 737 of file vpRobotFlirPtu.cpp.

References disconnect(), vpException::fatalError, m_cer, m_connected, m_status, and vpArray2D< Type >::size().

setVelocity()

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

virtual

Send to the controller a velocity in a given frame.

Parameters

[in]	frame	: Control frame in which the velocity vel is expressed. Velocities could be joint velocities, or cartesian velocities. Units are m/s for translation and rad/s for rotation velocities.
[in]	vel	: Vector that contains the velocity to apply to the robot.

Implements vpRobot.

Examples:

servoFlirPtuIBVS.cpp, testRobotFlirPtu.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 352 of file vpRobotFlirPtu.cpp.

References vpException::dimensionError, vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpRobot::nDof, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), setCartVelocity(), setJointVelocity(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, vpRobot::TOOL_FRAME, and vpRobotException::wrongStateError.

setVerbose()

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

stopMotion()

void vpRobotFlirPtu::stopMotion

(

void

)

Stop PTU motion in velocity control mode.

Definition at line 846 of file vpRobotFlirPtu.cpp.

References vpException::fatalError, vpRobot::getRobotState(), m_cer, m_connected, m_status, and vpRobot::STATE_VELOCITY_CONTROL.

Referenced by setRobotState(), and ~vpRobotFlirPtu().

Member Data Documentation

areJointLimitsAvailable

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().

eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 104 of file vpRobot.h.

Referenced by get_eJe(), vpSimulatorCamera::get_eJe(), vpRobotCamera::get_eJe(), vpRobot::operator=(), vpRobotAfma4::setVelocity(), vpRobotCamera::vpRobotCamera(), and vpSimulatorCamera::vpSimulatorCamera().

eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 106 of file vpRobot.h.

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

fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 108 of file vpRobot.h.

Referenced by get_fJe(), and vpRobot::operator=().

fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 110 of file vpRobot.h.

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

m_cer

struct cerial* vpRobotFlirPtu::m_cer

protected

Definition at line 162 of file vpRobotFlirPtu.h.

Referenced by connect(), disconnect(), getJointPosition(), getLimits(), getNetworkGateway(), getNetworkHostName(), getNetworkIP(), reset(), setJointVelocity(), setPanPosLimits(), setPosition(), setRobotState(), setTiltPosLimits(), and stopMotion().

m_connected

bool vpRobotFlirPtu::m_connected

protected

Definition at line 168 of file vpRobotFlirPtu.h.

Referenced by connect(), disconnect(), getJointPosition(), getLimits(), getNetworkGateway(), getNetworkHostName(), getNetworkIP(), getPanPosLimits(), getPanTiltVelMax(), getTiltPosLimits(), reset(), setJointVelocity(), setPanPosLimits(), setPosition(), setRobotState(), setTiltPosLimits(), and stopMotion().

m_eMc

vpHomogeneousMatrix vpRobotFlirPtu::m_eMc

protected

Constant transformation between end-effector and tool (or camera) frame.

Definition at line 160 of file vpRobotFlirPtu.h.

Referenced by get_cVe(), and setCartVelocity().

m_njoints

int vpRobotFlirPtu::m_njoints

protected

Definition at line 169 of file vpRobotFlirPtu.h.

Referenced by setPosition().

m_pos_max_tics

std::vector<int> vpRobotFlirPtu::m_pos_max_tics

protected

Pan min/max position in robot tics unit.

Definition at line 164 of file vpRobotFlirPtu.h.

Referenced by getLimits(), getPanPosLimits(), getTiltPosLimits(), and setPosition().

m_pos_min_tics

std::vector<int> vpRobotFlirPtu::m_pos_min_tics

protected

Tilt min/max position in robot tics unit.

Definition at line 165 of file vpRobotFlirPtu.h.

Referenced by getLimits(), getPanPosLimits(), getTiltPosLimits(), and setPosition().

m_positioning_velocity

double vpRobotFlirPtu::m_positioning_velocity

protected

Definition at line 170 of file vpRobotFlirPtu.h.

Referenced by setPosition(), and setPositioningVelocity().

m_res

std::vector<double> vpRobotFlirPtu::m_res

protected

Pan/tilt tic resolution in deg.

Definition at line 167 of file vpRobotFlirPtu.h.

Referenced by getLimits(), and getNetworkHostName().

m_status

uint16_t vpRobotFlirPtu::m_status

protected

Definition at line 163 of file vpRobotFlirPtu.h.

Referenced by connect(), getJointPosition(), getLimits(), getNetworkGateway(), getNetworkHostName(), getNetworkIP(), reset(), setJointVelocity(), setPanPosLimits(), setPosition(), setRobotState(), setTiltPosLimits(), and stopMotion().

m_vel_max_tics

std::vector<int> vpRobotFlirPtu::m_vel_max_tics

protected

Pan/tilt max velocity in robot tics unit.

Definition at line 166 of file vpRobotFlirPtu.h.

Referenced by getLimits(), getPanTiltVelMax(), setJointVelocity(), and setPosition().

maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobot::getMaxRotationVelocity(), vpRobotTemplate::init(), init(), vpRobot::operator=(), vpRobot::setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 99 of file vpRobot.h.

Referenced by vpRobotTemplate::init(), and init().

maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 96 of file vpRobot.h.

Referenced by vpRobot::getMaxTranslationVelocity(), vpRobotTemplate::init(), init(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().

maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by vpRobotTemplate::init(), and init().

nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 102 of file vpRobot.h.

Referenced by vpRobotTemplate::init(), init(), vpRobot::operator=(), vpRobotTemplate::setVelocity(), setVelocity(), vpRobotCamera::vpRobotCamera(), vpRobotFranka::vpRobotFranka(), vpSimulatorCamera::vpSimulatorCamera(), vpSimulatorPioneer::vpSimulatorPioneer(), and vpSimulatorPioneerPan::vpSimulatorPioneerPan().

qmax

double* vpRobot::qmax

protectedinherited

Definition at line 114 of file vpRobot.h.

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

qmin

double* vpRobot::qmin

protectedinherited

Definition at line 113 of file vpRobot.h.

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

verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 116 of file vpRobot.h.

Referenced by vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpRobot::operator=(), vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().