vpRobotAfma6.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 Irisa's Afma6 robot controlled by an Adept MotionBlox.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpRobotAfma6_h
#define vpRobotAfma6_h

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_AFMA6

#include <iostream>
#include <stdio.h>

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpPoseVector.h>
#include <visp3/robot/vpAfma6.h>
#include <visp3/robot/vpRobot.h>

// low level controller api
extern "C" {
#include "irisa_Afma6.h"
#include "trycatch.h"
}

class VISP_EXPORT vpRobotAfma6 : public vpAfma6, public vpRobot
{

private: /* Not allowed functions. */
  vpRobotAfma6(const vpRobotAfma6 &robot);

private: /* Attributs prives. */
  static bool robotAlreadyCreated;

  double positioningVelocity;

  // Variables used to compute the measured velocities (see getVelocity() )
  vpColVector q_prev_getvel;
  vpHomogeneousMatrix fMc_prev_getvel;
  double time_prev_getvel;
  bool first_time_getvel;

  // Variables used to compute the measured displacement (see
  // getDisplacement() )
  vpColVector q_prev_getdis;
  bool first_time_getdis;
  vpHomogeneousMatrix fMc_prev_getdis;

public: /* Constantes */
  /* Vitesse maximale par default lors du positionnement du robot.
   * C'est la valeur a la construction de l'attribut prive \a
   * positioningVelocity. Cette valeur peut etre changee par la fonction
   * #setPositioningVelocity.
   */
  static const double defaultPositioningVelocity; // = 20.0;

public: /* Methode publiques */
  explicit vpRobotAfma6(bool verbose = true);
  virtual ~vpRobotAfma6(void);

  bool checkJointLimits(vpColVector &jointsStatus);

  void closeGripper();

  void getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &displacement);

  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);

  double getPositioningVelocity(void);
  bool getPowerState();
  double getTime() const;

  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);

  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
  vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);

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

  void init(void);
  void init(vpAfma6::vpAfma6ToolType tool, const vpHomogeneousMatrix &eMc);
  void init(vpAfma6::vpAfma6ToolType tool, const std::string &filename);
  void
  init(vpAfma6::vpAfma6ToolType tool,
       vpCameraParameters::vpCameraParametersProjType projModel = vpCameraParameters::perspectiveProjWithoutDistortion);

  void move(const std::string &filename);
  void move(const std::string &filename, double velocity);

  void openGripper();

  void powerOn();
  void powerOff();

  static bool readPosFile(const std::string &filename, vpColVector &q);
  static bool savePosFile(const std::string &filename, const vpColVector &q);

  /* --- POSITIONNEMENT --------------------------------------------------- */
  void setPosition(const vpRobot::vpControlFrameType frame, const vpPoseVector &pose);
  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
  void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3,
                   double pos4, double pos5, double pos6);
  void setPosition(const std::string &filename);
  void setPositioningVelocity(double velocity);
  void set_eMc(const vpHomogeneousMatrix &eMc);

  /* --- ETAT ------------------------------------------------------------- */

  vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState);

  /* --- VITESSE ---------------------------------------------------------- */

  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);

  void stopMotion();
};

#endif
#endif /* #ifndef vpRobotAfma6_h */