vpSimulatorAfma6.cpp

/****************************************************************************
 *
 * 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:
 * Class which provides a simulator for the robot Afma6.
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD))
#include <cmath>  // std::fabs
#include <limits> // numeric_limits
#include <string>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpTime.h>
#include <visp3/robot/vpRobotException.h>
#include <visp3/robot/vpSimulatorAfma6.h>

#include "../wireframe-simulator/vpBound.h"
#include "../wireframe-simulator/vpRfstack.h"
#include "../wireframe-simulator/vpScene.h"
#include "../wireframe-simulator/vpVwstack.h"

const double vpSimulatorAfma6::defaultPositioningVelocity = 25.0;

vpSimulatorAfma6::vpSimulatorAfma6()
  : vpRobotWireFrameSimulator(), vpAfma6(), q_prev_getdis(), first_time_getdis(true),
    positioningVelocity(defaultPositioningVelocity), zeroPos(), reposPos(), toolCustom(false), arm_dir()
{
  init();
  initDisplay();

  tcur = vpTime::measureTimeMs();

#if defined(_WIN32)
#ifdef WINRT_8_1
  mutex_fMi = CreateMutexEx(NULL, NULL, 0, NULL);
  mutex_artVel = CreateMutexEx(NULL, NULL, 0, NULL);
  mutex_artCoord = CreateMutexEx(NULL, NULL, 0, NULL);
  mutex_velocity = CreateMutexEx(NULL, NULL, 0, NULL);
  mutex_display = CreateMutexEx(NULL, NULL, 0, NULL);
#else
  mutex_fMi = CreateMutex(NULL, FALSE, NULL);
  mutex_artVel = CreateMutex(NULL, FALSE, NULL);
  mutex_artCoord = CreateMutex(NULL, FALSE, NULL);
  mutex_velocity = CreateMutex(NULL, FALSE, NULL);
  mutex_display = CreateMutex(NULL, FALSE, NULL);
#endif

  DWORD dwThreadIdArray;
  hThread = CreateThread(NULL,              // default security attributes
                         0,                 // use default stack size
                         launcher,          // thread function name
                         this,              // argument to thread function
                         0,                 // use default creation flags
                         &dwThreadIdArray); // returns the thread identifier
#elif defined(VISP_HAVE_PTHREAD)
  pthread_mutex_init(&mutex_fMi, NULL);
  pthread_mutex_init(&mutex_artVel, NULL);
  pthread_mutex_init(&mutex_artCoord, NULL);
  pthread_mutex_init(&mutex_velocity, NULL);
  pthread_mutex_init(&mutex_display, NULL);

  pthread_attr_init(&attr);
  pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);

  pthread_create(&thread, NULL, launcher, (void *)this);
#endif

  compute_fMi();
}

vpSimulatorAfma6::vpSimulatorAfma6(bool do_display)
  : vpRobotWireFrameSimulator(do_display), q_prev_getdis(), first_time_getdis(true),
    positioningVelocity(defaultPositioningVelocity), zeroPos(), reposPos(), toolCustom(false), arm_dir()
{
  init();
  initDisplay();

  tcur = vpTime::measureTimeMs();

#if defined(_WIN32)
#ifdef WINRT_8_1
  mutex_fMi = CreateMutexEx(NULL, NULL, 0, NULL);
  mutex_artVel = CreateMutexEx(NULL, NULL, 0, NULL);
  mutex_artCoord = CreateMutexEx(NULL, NULL, 0, NULL);
  mutex_velocity = CreateMutexEx(NULL, NULL, 0, NULL);
  mutex_display = CreateMutexEx(NULL, NULL, 0, NULL);
#else
  mutex_fMi = CreateMutex(NULL, FALSE, NULL);
  mutex_artVel = CreateMutex(NULL, FALSE, NULL);
  mutex_artCoord = CreateMutex(NULL, FALSE, NULL);
  mutex_velocity = CreateMutex(NULL, FALSE, NULL);
  mutex_display = CreateMutex(NULL, FALSE, NULL);
#endif

  DWORD dwThreadIdArray;
  hThread = CreateThread(NULL,              // default security attributes
                         0,                 // use default stack size
                         launcher,          // thread function name
                         this,              // argument to thread function
                         0,                 // use default creation flags
                         &dwThreadIdArray); // returns the thread identifier
#elif defined(VISP_HAVE_PTHREAD)
  pthread_mutex_init(&mutex_fMi, NULL);
  pthread_mutex_init(&mutex_artVel, NULL);
  pthread_mutex_init(&mutex_artCoord, NULL);
  pthread_mutex_init(&mutex_velocity, NULL);
  pthread_mutex_init(&mutex_display, NULL);

  pthread_attr_init(&attr);
  pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);

  pthread_create(&thread, NULL, launcher, (void *)this);
#endif

  compute_fMi();
}

vpSimulatorAfma6::~vpSimulatorAfma6()
{
  robotStop = true;

#if defined(_WIN32)
#if defined(WINRT_8_1)
  WaitForSingleObjectEx(hThread, INFINITE, FALSE);
#else // pure win32
  WaitForSingleObject(hThread, INFINITE);
#endif
  CloseHandle(hThread);
  CloseHandle(mutex_fMi);
  CloseHandle(mutex_artVel);
  CloseHandle(mutex_artCoord);
  CloseHandle(mutex_velocity);
  CloseHandle(mutex_display);
#elif defined(VISP_HAVE_PTHREAD)
  pthread_attr_destroy(&attr);
  pthread_join(thread, NULL);
  pthread_mutex_destroy(&mutex_fMi);
  pthread_mutex_destroy(&mutex_artVel);
  pthread_mutex_destroy(&mutex_artCoord);
  pthread_mutex_destroy(&mutex_velocity);
  pthread_mutex_destroy(&mutex_display);
#endif

  if (robotArms != NULL) {
    for (int i = 0; i < 6; i++)
      free_Bound_scene(&(robotArms[i]));
  }

  delete[] robotArms;
  delete[] fMi;
}

void vpSimulatorAfma6::init()
{
  // set arm_dir from #define VISP_ROBOT_ARMS_DIR if it exists
  // VISP_ROBOT_ARMS_DIR may contain multiple locations separated by ";"
  std::vector<std::string> arm_dirs = vpIoTools::splitChain(std::string(VISP_ROBOT_ARMS_DIR), std::string(";"));
  bool armDirExists = false;
  for (size_t i = 0; i < arm_dirs.size(); i++)
    if (vpIoTools::checkDirectory(arm_dirs[i]) == true) { // directory exists
      arm_dir = arm_dirs[i];
      armDirExists = true;
      break;
    }
  if (!armDirExists) {
    try {
      arm_dir = vpIoTools::getenv("VISP_ROBOT_ARMS_DIR");
      std::cout << "The simulator uses data from VISP_ROBOT_ARMS_DIR=" << arm_dir << std::endl;
    } catch (...) {
      std::cout << "Cannot get VISP_ROBOT_ARMS_DIR environment variable" << std::endl;
    }
  }

  this->init(vpAfma6::TOOL_CCMOP);
  toolCustom = false;

  size_fMi = 8;
  fMi = new vpHomogeneousMatrix[8];
  artCoord.resize(njoint);
  artVel.resize(njoint);

  zeroPos.resize(njoint);
  zeroPos = 0;
  reposPos.resize(njoint);
  reposPos = 0;
  reposPos[1] = -M_PI / 2;
  reposPos[2] = M_PI;
  reposPos[4] = M_PI / 2;

  artCoord = zeroPos;
  artVel = 0;

  q_prev_getdis.resize(njoint);
  q_prev_getdis = 0;
  first_time_getdis = true;

  positioningVelocity = defaultPositioningVelocity;

  setRobotFrame(vpRobot::ARTICULAR_FRAME);
  this->setRobotState(vpRobot::STATE_STOP);

  // Software joint limits in radians
  //_joint_min.resize(njoint);
  _joint_min[0] = -0.6501;
  _joint_min[1] = -0.6001;
  _joint_min[2] = -0.5001;
  _joint_min[3] = -2.7301;
  _joint_min[4] = -0.1001;
  _joint_min[5] = -1.5901;
  //_joint_max.resize(njoint);
  _joint_max[0] = 0.7001;
  _joint_max[1] = 0.5201;
  _joint_max[2] = 0.4601;
  _joint_max[3] = 2.7301;
  _joint_max[4] = 2.4801;
  _joint_max[5] = 1.5901;
}

void vpSimulatorAfma6::initDisplay()
{
  robotArms = NULL;
  robotArms = new Bound_scene[6];
  initArms();
  setExternalCameraPosition(vpHomogeneousMatrix(0, 0, 0, 0, 0, vpMath::rad(180)) *
                            vpHomogeneousMatrix(-0.1, 0, 4, vpMath::rad(90), 0, 0));
  cameraParam.initPersProjWithoutDistortion(558.5309599, 556.055053, 320, 240);
  setExternalCameraParameters(cameraParam);
  vpCameraParameters tmp;
  getCameraParameters(tmp, 640, 480);
  px_int = tmp.get_px();
  py_int = tmp.get_py();
  sceneInitialized = true;
}

void vpSimulatorAfma6::init(vpAfma6::vpAfma6ToolType tool, vpCameraParameters::vpCameraParametersProjType proj_model)
{
  this->projModel = proj_model;
  unsigned int name_length = 30; // the size of this kind of string "/afma6_tool_vacuum.bnd"
  if (arm_dir.size() > FILENAME_MAX)
    throw vpException(vpException::dimensionError, "Cannot initialize Afma6 simulator");
  unsigned int full_length = (unsigned int)arm_dir.size() + name_length;
  if (full_length > FILENAME_MAX)
    throw vpException(vpException::dimensionError, "Cannot initialize Afma6 simulator");

  // Use here default values of the robot constant parameters.
  switch (tool) {
  case vpAfma6::TOOL_CCMOP: {
    _erc[0] = vpMath::rad(164.35); // rx
    _erc[1] = vpMath::rad(89.64);  // ry
    _erc[2] = vpMath::rad(-73.05); // rz
    _etc[0] = 0.0117;              // tx
    _etc[1] = 0.0033;              // ty
    _etc[2] = 0.2272;              // tz

    setCameraParameters(vpCameraParameters(1109.5735473989, 1112.1520168160, 320, 240));

    if (robotArms != NULL) {
      while (get_displayBusy())
        vpTime::wait(2);
      free_Bound_scene(&(robotArms[5]));
      char *name_arm = new char[full_length];
      strcpy(name_arm, arm_dir.c_str());
      strcat(name_arm, "/afma6_tool_ccmop.bnd");
      set_scene(name_arm, robotArms + 5, 1.0);
      set_displayBusy(false);
      delete[] name_arm;
    }
    break;
  }
  case vpAfma6::TOOL_GRIPPER: {
    _erc[0] = vpMath::rad(88.33); // rx
    _erc[1] = vpMath::rad(72.07); // ry
    _erc[2] = vpMath::rad(2.53);  // rz
    _etc[0] = 0.0783;             // tx
    _etc[1] = 0.1234;             // ty
    _etc[2] = 0.1638;             // tz

    setCameraParameters(vpCameraParameters(852.6583228197, 854.8084224761, 320, 240));

    if (robotArms != NULL) {
      while (get_displayBusy())
        vpTime::wait(2);
      free_Bound_scene(&(robotArms[5]));
      char *name_arm = new char[full_length];
      strcpy(name_arm, arm_dir.c_str());
      strcat(name_arm, "/afma6_tool_gripper.bnd");
      set_scene(name_arm, robotArms + 5, 1.0);
      set_displayBusy(false);
      delete[] name_arm;
    }
    break;
  }
  case vpAfma6::TOOL_VACUUM: {
    _erc[0] = vpMath::rad(90.40); // rx
    _erc[1] = vpMath::rad(75.11); // ry
    _erc[2] = vpMath::rad(0.18);  // rz
    _etc[0] = 0.0038;             // tx
    _etc[1] = 0.1281;             // ty
    _etc[2] = 0.1658;             // tz

    setCameraParameters(vpCameraParameters(853.4876600807, 856.0339170706, 320, 240));

    if (robotArms != NULL) {
      while (get_displayBusy())
        vpTime::wait(2);
      free_Bound_scene(&(robotArms[5]));

      char *name_arm = new char[full_length];

      strcpy(name_arm, arm_dir.c_str());
      strcat(name_arm, "/afma6_tool_vacuum.bnd");
      set_scene(name_arm, robotArms + 5, 1.0);
      set_displayBusy(false);
      delete[] name_arm;
    }
    break;
  }
  case vpAfma6::TOOL_CUSTOM:
  case vpAfma6::TOOL_GENERIC_CAMERA: {
    std::cout << "The generic camera is not handled in vpSimulatorAfma6.cpp" << std::endl;
  }
  }

  vpRotationMatrix eRc(_erc);
  this->_eMc.buildFrom(_etc, eRc);

  setToolType(tool);
  return;
}

void vpSimulatorAfma6::getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
                                           const unsigned int &image_height)
{
  if (toolCustom) {
    cam.initPersProjWithoutDistortion(px_int, py_int, image_width / 2, image_height / 2);
  }
  // Set default parameters
  switch (getToolType()) {
  case vpAfma6::TOOL_CCMOP: {
    // Set default intrinsic camera parameters for 640x480 images
    if (image_width == 640 && image_height == 480) {
      std::cout << "Get default camera parameters for camera \"" << vpAfma6::CONST_CCMOP_CAMERA_NAME << "\""
                << std::endl;
      cam.initPersProjWithoutDistortion(1109.5735473989, 1112.1520168160, 320, 240);
    } else {
      vpTRACE("Cannot get default intrinsic camera parameters for this image "
              "resolution");
    }
    break;
  }
  case vpAfma6::TOOL_GRIPPER: {
    // Set default intrinsic camera parameters for 640x480 images
    if (image_width == 640 && image_height == 480) {
      std::cout << "Get default camera parameters for camera \"" << vpAfma6::CONST_GRIPPER_CAMERA_NAME << "\""
                << std::endl;
      cam.initPersProjWithoutDistortion(852.6583228197, 854.8084224761, 320, 240);
    } else {
      vpTRACE("Cannot get default intrinsic camera parameters for this image "
              "resolution");
    }
    break;
  }
  case vpAfma6::TOOL_CUSTOM:
  case vpAfma6::TOOL_GENERIC_CAMERA:
  case vpAfma6::TOOL_VACUUM: {
    std::cout << "The generic camera is not handled in vpSimulatorAfma6.cpp" << std::endl;
    break;
  }
  default:
    vpERROR_TRACE("This error should not occur!");
    break;
  }
  return;
}

void vpSimulatorAfma6::getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I_)
{
  getCameraParameters(cam, I_.getWidth(), I_.getHeight());
}

void vpSimulatorAfma6::getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I_)
{
  getCameraParameters(cam, I_.getWidth(), I_.getHeight());
}

void vpSimulatorAfma6::setCameraParameters(const vpCameraParameters &cam)
{
  px_int = cam.get_px();
  py_int = cam.get_py();
  toolCustom = true;
}

void vpSimulatorAfma6::updateArticularPosition()
{
  double tcur_1 = tcur; // temporary variable used to store the last time
                        // since the last command

  while (!robotStop) {
    // Get current time
    tprev = tcur_1;
    tcur = vpTime::measureTimeMs();

    if (setVelocityCalled || !constantSamplingTimeMode) {
      setVelocityCalled = false;

      computeArticularVelocity();

      double ellapsedTime = (tcur - tprev) * 1e-3;
      if (constantSamplingTimeMode) {     // if we want a constant velocity, we
                                          // force the ellapsed time to the given
                                          // samplingTime
        ellapsedTime = getSamplingTime(); // in second
      }

      vpColVector articularCoordinates = get_artCoord();
      vpColVector articularVelocities = get_artVel();

      if (jointLimit) {
        double art = articularCoordinates[jointLimitArt - 1] + ellapsedTime * articularVelocities[jointLimitArt - 1];
        if (art <= _joint_min[jointLimitArt - 1] || art >= _joint_max[jointLimitArt - 1]) {
          if (verbose_) {
            std::cout << "Joint " << jointLimitArt - 1
                      << " reaches a limit: " << vpMath::deg(_joint_min[jointLimitArt - 1]) << " < " << vpMath::deg(art)
                      << " < " << vpMath::deg(_joint_max[jointLimitArt - 1]) << std::endl;
          }

          articularVelocities = 0.0;
        } else
          jointLimit = false;
      }

      articularCoordinates[0] = articularCoordinates[0] + ellapsedTime * articularVelocities[0];
      articularCoordinates[1] = articularCoordinates[1] + ellapsedTime * articularVelocities[1];
      articularCoordinates[2] = articularCoordinates[2] + ellapsedTime * articularVelocities[2];
      articularCoordinates[3] = articularCoordinates[3] + ellapsedTime * articularVelocities[3];
      articularCoordinates[4] = articularCoordinates[4] + ellapsedTime * articularVelocities[4];
      articularCoordinates[5] = articularCoordinates[5] + ellapsedTime * articularVelocities[5];

      int jl = isInJointLimit();

      if (jl != 0 && jointLimit == false) {
        if (jl < 0)
          ellapsedTime = (_joint_min[(unsigned int)(-jl - 1)] - articularCoordinates[(unsigned int)(-jl - 1)]) /
                         (articularVelocities[(unsigned int)(-jl - 1)]);
        else
          ellapsedTime = (_joint_max[(unsigned int)(jl - 1)] - articularCoordinates[(unsigned int)(jl - 1)]) /
                         (articularVelocities[(unsigned int)(jl - 1)]);

        for (unsigned int i = 0; i < 6; i++)
          articularCoordinates[i] = articularCoordinates[i] + ellapsedTime * articularVelocities[i];

        jointLimit = true;
        jointLimitArt = (unsigned int)fabs((double)jl);
      }

      set_artCoord(articularCoordinates);
      set_artVel(articularVelocities);

      compute_fMi();

      if (displayAllowed) {
        vpDisplay::display(I);
        vpDisplay::displayFrame(I, getExternalCameraPosition(), cameraParam, 0.2, vpColor::none, thickness_);
        vpDisplay::displayFrame(I, getExternalCameraPosition() * fMi[7], cameraParam, 0.1, vpColor::none, thickness_);
      }

      if (displayType == MODEL_3D && displayAllowed) {
        while (get_displayBusy())
          vpTime::wait(2);
        vpSimulatorAfma6::getExternalImage(I);
        set_displayBusy(false);
      }

      if (0 /*displayType == MODEL_DH && displayAllowed*/) {
        vpHomogeneousMatrix fMit[8];
        get_fMi(fMit);

        // vpDisplay::displayFrame(I,getExternalCameraPosition
        // ()*fMi[6],cameraParam,0.2,vpColor::none);

        vpImagePoint iP, iP_1;
        vpPoint pt(0, 0, 0);

        pt.track(getExternalCameraPosition());
        vpMeterPixelConversion::convertPoint(cameraParam, pt.get_x(), pt.get_y(), iP_1);
        pt.track(getExternalCameraPosition() * fMit[0]);
        vpMeterPixelConversion::convertPoint(cameraParam, pt.get_x(), pt.get_y(), iP);
        vpDisplay::displayLine(I, iP_1, iP, vpColor::green, thickness_);
        for (unsigned int k = 1; k < 7; k++) {
          pt.track(getExternalCameraPosition() * fMit[k - 1]);
          vpMeterPixelConversion::convertPoint(cameraParam, pt.get_x(), pt.get_y(), iP_1);

          pt.track(getExternalCameraPosition() * fMit[k]);
          vpMeterPixelConversion::convertPoint(cameraParam, pt.get_x(), pt.get_y(), iP);

          vpDisplay::displayLine(I, iP_1, iP, vpColor::green, thickness_);
        }
        vpDisplay::displayCamera(I, getExternalCameraPosition() * fMit[7], cameraParam, 0.1, vpColor::green,
                                 thickness_);
      }

      vpDisplay::flush(I);

      vpTime::wait(tcur, 1000 * getSamplingTime());
      tcur_1 = tcur;
    } else {
      vpTime::wait(tcur, vpTime::getMinTimeForUsleepCall());
    }
  }
}

void vpSimulatorAfma6::compute_fMi()
{
  // vpColVector q = get_artCoord();
  vpColVector q(6); //; = get_artCoord();
  q = get_artCoord();

  vpHomogeneousMatrix fMit[8];

  double q1 = q[0];
  double q2 = q[1];
  double q3 = q[2];
  double q4 = q[3];
  double q5 = q[4];
  double q6 = q[5];

  double c4 = cos(q4);
  double s4 = sin(q4);
  double c5 = cos(q5);
  double s5 = sin(q5);
  double c6 = cos(q6);
  double s6 = sin(q6);

  fMit[0][0][0] = 1;
  fMit[0][1][0] = 0;
  fMit[0][2][0] = 0;
  fMit[0][0][1] = 0;
  fMit[0][1][1] = 1;
  fMit[0][2][1] = 0;
  fMit[0][0][2] = 0;
  fMit[0][1][2] = 0;
  fMit[0][2][2] = 1;
  fMit[0][0][3] = q1;
  fMit[0][1][3] = 0;
  fMit[0][2][3] = 0;

  fMit[1][0][0] = 1;
  fMit[1][1][0] = 0;
  fMit[1][2][0] = 0;
  fMit[1][0][1] = 0;
  fMit[1][1][1] = 1;
  fMit[1][2][1] = 0;
  fMit[1][0][2] = 0;
  fMit[1][1][2] = 0;
  fMit[1][2][2] = 1;
  fMit[1][0][3] = q1;
  fMit[1][1][3] = q2;
  fMit[1][2][3] = 0;

  fMit[2][0][0] = 1;
  fMit[2][1][0] = 0;
  fMit[2][2][0] = 0;
  fMit[2][0][1] = 0;
  fMit[2][1][1] = 1;
  fMit[2][2][1] = 0;
  fMit[2][0][2] = 0;
  fMit[2][1][2] = 0;
  fMit[2][2][2] = 1;
  fMit[2][0][3] = q1;
  fMit[2][1][3] = q2;
  fMit[2][2][3] = q3;

  fMit[3][0][0] = s4;
  fMit[3][1][0] = -c4;
  fMit[3][2][0] = 0;
  fMit[3][0][1] = c4;
  fMit[3][1][1] = s4;
  fMit[3][2][1] = 0;
  fMit[3][0][2] = 0;
  fMit[3][1][2] = 0;
  fMit[3][2][2] = 1;
  fMit[3][0][3] = q1;
  fMit[3][1][3] = q2;
  fMit[3][2][3] = q3;

  fMit[4][0][0] = s4 * s5;
  fMit[4][1][0] = -c4 * s5;
  fMit[4][2][0] = c5;
  fMit[4][0][1] = s4 * c5;
  fMit[4][1][1] = -c4 * c5;
  fMit[4][2][1] = -s5;
  fMit[4][0][2] = c4;
  fMit[4][1][2] = s4;
  fMit[4][2][2] = 0;
  fMit[4][0][3] = c4 * this->_long_56 + q1;
  fMit[4][1][3] = s4 * this->_long_56 + q2;
  fMit[4][2][3] = q3;

  fMit[5][0][0] = s4 * s5 * c6 + c4 * s6;
  fMit[5][1][0] = -c4 * s5 * c6 + s4 * s6;
  fMit[5][2][0] = c5 * c6;
  fMit[5][0][1] = -s4 * s5 * s6 + c4 * c6;
  fMit[5][1][1] = c4 * s5 * s6 + s4 * c6;
  fMit[5][2][1] = -c5 * s6;
  fMit[5][0][2] = -s4 * c5;
  fMit[5][1][2] = c4 * c5;
  fMit[5][2][2] = s5;
  fMit[5][0][3] = c4 * this->_long_56 + q1;
  fMit[5][1][3] = s4 * this->_long_56 + q2;
  fMit[5][2][3] = q3;

  fMit[6][0][0] = fMit[5][0][0];
  fMit[6][1][0] = fMit[5][1][0];
  fMit[6][2][0] = fMit[5][2][0];
  fMit[6][0][1] = fMit[5][0][1];
  fMit[6][1][1] = fMit[5][1][1];
  fMit[6][2][1] = fMit[5][2][1];
  fMit[6][0][2] = fMit[5][0][2];
  fMit[6][1][2] = fMit[5][1][2];
  fMit[6][2][2] = fMit[5][2][2];
  fMit[6][0][3] = fMit[5][0][3];
  fMit[6][1][3] = fMit[5][1][3];
  fMit[6][2][3] = fMit[5][2][3];

  //   vpHomogeneousMatrix cMe;
  //   get_cMe(cMe);
  //   cMe = cMe.inverse();
  //   fMit[7] = fMit[6] * cMe;
  vpAfma6::get_fMc(q, fMit[7]);

#if defined(_WIN32)
#if defined(WINRT_8_1)
  WaitForSingleObjectEx(mutex_fMi, INFINITE, FALSE);
#else // pure win32
  WaitForSingleObject(mutex_fMi, INFINITE);
#endif
  for (int i = 0; i < 8; i++)
    fMi[i] = fMit[i];
  ReleaseMutex(mutex_fMi);
#elif defined(VISP_HAVE_PTHREAD)
  pthread_mutex_lock(&mutex_fMi);
  for (int i = 0; i < 8; i++)
    fMi[i] = fMit[i];
  pthread_mutex_unlock(&mutex_fMi);
#endif
}

vpRobot::vpRobotStateType vpSimulatorAfma6::setRobotState(vpRobot::vpRobotStateType newState)
{
  switch (newState) {
  case vpRobot::STATE_STOP: {
    // Start primitive STOP only if the current state is Velocity
    if (vpRobot::STATE_VELOCITY_CONTROL == getRobotState()) {
      stopMotion();
    }
    break;
  }
  case vpRobot::STATE_POSITION_CONTROL: {
    if (vpRobot::STATE_VELOCITY_CONTROL == getRobotState()) {
      std::cout << "Change the control mode from velocity to position control.\n";
      stopMotion();
    } else {
      // std::cout << "Change the control mode from stop to position
      // control.\n";
    }
    break;
  }
  case vpRobot::STATE_VELOCITY_CONTROL: {
    if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState()) {
      std::cout << "Change the control mode from stop to velocity control.\n";
    }
    break;
  }
  case vpRobot::STATE_ACCELERATION_CONTROL:
  default:
    break;
  }

  return vpRobot::setRobotState(newState);
}

void vpSimulatorAfma6::setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
{
  if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState()) {
    vpERROR_TRACE("Cannot send a velocity to the robot "
                  "use setRobotState(vpRobot::STATE_VELOCITY_CONTROL) first) ");
    throw vpRobotException(vpRobotException::wrongStateError,
                           "Cannot send a velocity to the robot "
                           "use setRobotState(vpRobot::STATE_VELOCITY_CONTROL) first) ");
  }

  vpColVector vel_sat(6);

  double scale_sat = 1;
  double vel_trans_max = getMaxTranslationVelocity();
  double vel_rot_max = getMaxRotationVelocity();

  double vel_abs; // Absolute value

  // Velocity saturation
  switch (frame) {
  // saturation in cartesian space
  case vpRobot::CAMERA_FRAME:
  case vpRobot::REFERENCE_FRAME: {
    if (vel.getRows() != 6) {
      vpERROR_TRACE("The velocity vector must have a size of 6 !!!!");
      throw;
    }

    for (unsigned int i = 0; i < 3; ++i) {
      vel_abs = fabs(vel[i]);
      if (vel_abs > vel_trans_max && !jointLimit) {
        vel_trans_max = vel_abs;
        vpERROR_TRACE("Excess velocity %g m/s in TRANSLATION "
                      "(axis nr. %d).",
                      vel[i], i + 1);
      }

      vel_abs = fabs(vel[i + 3]);
      if (vel_abs > vel_rot_max && !jointLimit) {
        vel_rot_max = vel_abs;
        vpERROR_TRACE("Excess velocity %g rad/s in ROTATION "
                      "(axis nr. %d).",
                      vel[i + 3], i + 4);
      }
    }

    double scale_trans_sat = 1;
    double scale_rot_sat = 1;
    if (vel_trans_max > getMaxTranslationVelocity())
      scale_trans_sat = getMaxTranslationVelocity() / vel_trans_max;

    if (vel_rot_max > getMaxRotationVelocity())
      scale_rot_sat = getMaxRotationVelocity() / vel_rot_max;

    if ((scale_trans_sat < 1) || (scale_rot_sat < 1)) {
      if (scale_trans_sat < scale_rot_sat)
        scale_sat = scale_trans_sat;
      else
        scale_sat = scale_rot_sat;
    }
    break;
  }

  // saturation in joint space
  case vpRobot::ARTICULAR_FRAME: {
    if (vel.getRows() != 6) {
      vpERROR_TRACE("The velocity vector must have a size of 6 !!!!");
      throw;
    }
    for (unsigned int i = 0; i < 6; ++i) {
      vel_abs = fabs(vel[i]);
      if (vel_abs > vel_rot_max && !jointLimit) {
        vel_rot_max = vel_abs;
        vpERROR_TRACE("Excess velocity %g rad/s in ROTATION "
                      "(axis nr. %d).",
                      vel[i], i + 1);
      }
    }
    double scale_rot_sat = 1;
    if (vel_rot_max > getMaxRotationVelocity())
      scale_rot_sat = getMaxRotationVelocity() / vel_rot_max;
    if (scale_rot_sat < 1)
      scale_sat = scale_rot_sat;
    break;
  }
  case vpRobot::MIXT_FRAME: {
    throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in MIXT_FRAME frame:"
                                                              "functionality not implemented");
  }
  case vpRobot::END_EFFECTOR_FRAME: {
    throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in END_EFFECTOT_FRAME frame:"
                                                              "functionality not implemented");
  }
  }

  set_velocity(vel * scale_sat);
  setRobotFrame(frame);
  setVelocityCalled = true;
}

void vpSimulatorAfma6::computeArticularVelocity()
{
  vpRobot::vpControlFrameType frame = getRobotFrame();

  double vel_rot_max = getMaxRotationVelocity();

  vpColVector articularCoordinates = get_artCoord();
  vpColVector velocityframe = get_velocity();
  vpColVector articularVelocity;

  switch (frame) {
  case vpRobot::CAMERA_FRAME: {
    vpMatrix eJe_;
    vpVelocityTwistMatrix eVc(_eMc);
    vpAfma6::get_eJe(articularCoordinates, eJe_);
    eJe_ = eJe_.pseudoInverse();
    if (singularityManagement)
      singularityTest(articularCoordinates, eJe_);
    articularVelocity = eJe_ * eVc * velocityframe;
    set_artVel(articularVelocity);
    break;
  }
  case vpRobot::REFERENCE_FRAME: {
    vpMatrix fJe_;
    vpAfma6::get_fJe(articularCoordinates, fJe_);
    fJe_ = fJe_.pseudoInverse();
    if (singularityManagement)
      singularityTest(articularCoordinates, fJe_);
    articularVelocity = fJe_ * velocityframe;
    set_artVel(articularVelocity);
    break;
  }
  case vpRobot::ARTICULAR_FRAME: {
    articularVelocity = velocityframe;
    set_artVel(articularVelocity);
    break;
  }
  case vpRobot::END_EFFECTOR_FRAME:
  case vpRobot::MIXT_FRAME: {
    break;
  }
  }

  switch (frame) {
  case vpRobot::CAMERA_FRAME:
  case vpRobot::REFERENCE_FRAME: {
    for (unsigned int i = 0; i < 6; ++i) {
      double vel_abs = fabs(articularVelocity[i]);
      if (vel_abs > vel_rot_max && !jointLimit) {
        vel_rot_max = vel_abs;
        vpERROR_TRACE("Excess velocity %g rad/s in ROTATION "
                      "(axis nr. %d).",
                      articularVelocity[i], i + 1);
      }
    }
    double scale_rot_sat = 1;
    double scale_sat = 1;
    if (vel_rot_max > getMaxRotationVelocity())
      scale_rot_sat = getMaxRotationVelocity() / vel_rot_max;
    if (scale_rot_sat < 1)
      scale_sat = scale_rot_sat;

    set_artVel(articularVelocity * scale_sat);
    break;
  }
  case vpRobot::ARTICULAR_FRAME:
  case vpRobot::END_EFFECTOR_FRAME:
  case vpRobot::MIXT_FRAME: {
    break;
  }
  }
}

void vpSimulatorAfma6::getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &vel)
{
  vel.resize(6);

  vpColVector articularCoordinates = get_artCoord();
  vpColVector articularVelocity = get_artVel();

  switch (frame) {
  case vpRobot::CAMERA_FRAME: {
    vpMatrix eJe_;
    vpVelocityTwistMatrix cVe(_eMc);
    vpAfma6::get_eJe(articularCoordinates, eJe_);
    vel = cVe * eJe_ * articularVelocity;
    break;
  }
  case vpRobot::ARTICULAR_FRAME: {
    vel = articularVelocity;
    break;
  }
  case vpRobot::REFERENCE_FRAME: {
    vpMatrix fJe_;
    vpAfma6::get_fJe(articularCoordinates, fJe_);
    vel = fJe_ * articularVelocity;
    break;
  }
  case vpRobot::END_EFFECTOR_FRAME:
  case vpRobot::MIXT_FRAME: {
    break;
  }
  default: {
    vpERROR_TRACE("Error in spec of vpRobot. "
                  "Case not taken in account.");
    return;
  }
  }
}

void vpSimulatorAfma6::getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &vel, double &timestamp)
{
  timestamp = vpTime::measureTimeSecond();
  getVelocity(frame, vel);
}

vpColVector vpSimulatorAfma6::getVelocity(vpRobot::vpControlFrameType frame)
{
  vpColVector vel(6);
  getVelocity(frame, vel);

  return vel;
}

vpColVector vpSimulatorAfma6::getVelocity(vpRobot::vpControlFrameType frame, double &timestamp)
{
  timestamp = vpTime::measureTimeSecond();
  vpColVector vel(6);
  getVelocity(frame, vel);

  return vel;
}

void vpSimulatorAfma6::findHighestPositioningSpeed(vpColVector &q)
{
  double vel_rot_max = getMaxRotationVelocity();
  double velmax = fabs(q[0]);
  for (unsigned int i = 1; i < 6; i++) {
    if (velmax < fabs(q[i]))
      velmax = fabs(q[i]);
  }

  double alpha = (getPositioningVelocity() * vel_rot_max) / (velmax * 100);
  q = q * alpha;
}

void vpSimulatorAfma6::setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)
{
  if (vpRobot::STATE_POSITION_CONTROL != getRobotState()) {
    vpERROR_TRACE("Robot was not in position-based control\n"
                  "Modification of the robot state");
    // setRobotState(vpRobot::STATE_POSITION_CONTROL) ;
  }

  vpColVector articularCoordinates = get_artCoord();

  vpColVector error(6);
  double errsqr = 0;
  switch (frame) {
  case vpRobot::CAMERA_FRAME: {
    int nbSol;
    vpColVector qdes(6);

    vpTranslationVector txyz;
    vpRxyzVector rxyz;
    for (unsigned int i = 0; i < 3; i++) {
      txyz[i] = q[i];
      rxyz[i] = q[i + 3];
    }

    vpRotationMatrix cRc2(rxyz);
    vpHomogeneousMatrix cMc2(txyz, cRc2);

    vpHomogeneousMatrix fMc_;
    vpAfma6::get_fMc(articularCoordinates, fMc_);

    vpHomogeneousMatrix fMc2 = fMc_ * cMc2;

    do {
      articularCoordinates = get_artCoord();
      qdes = articularCoordinates;
      nbSol = getInverseKinematics(fMc2, qdes, true, verbose_);
      setVelocityCalled = true;
      if (nbSol > 0) {
        error = qdes - articularCoordinates;
        errsqr = error.sumSquare();
        // findHighestPositioningSpeed(error);
        set_artVel(error);
        if (errsqr < 1e-4) {
          set_artCoord(qdes);
          error = 0;
          set_artVel(error);
          set_velocity(error);
          break;
        }
      } else {
        vpERROR_TRACE("Positionning error.");
        throw vpRobotException(vpRobotException::positionOutOfRangeError, "Position out of range.");
      }
    } while (errsqr > 1e-8 && nbSol > 0);

    break;
  }

  case vpRobot::ARTICULAR_FRAME: {
    do {
      articularCoordinates = get_artCoord();
      error = q - articularCoordinates;
      errsqr = error.sumSquare();
      // findHighestPositioningSpeed(error);
      set_artVel(error);
      setVelocityCalled = true;
      if (errsqr < 1e-4) {
        set_artCoord(q);
        error = 0;
        set_artVel(error);
        set_velocity(error);
        break;
      }
    } while (errsqr > 1e-8);
    break;
  }

  case vpRobot::REFERENCE_FRAME: {
    int nbSol;
    vpColVector qdes(6);

    vpTranslationVector txyz;
    vpRxyzVector rxyz;
    for (unsigned int i = 0; i < 3; i++) {
      txyz[i] = q[i];
      rxyz[i] = q[i + 3];
    }

    vpRotationMatrix fRc(rxyz);
    vpHomogeneousMatrix fMc_(txyz, fRc);

    do {
      articularCoordinates = get_artCoord();
      qdes = articularCoordinates;
      nbSol = getInverseKinematics(fMc_, qdes, true, verbose_);
      setVelocityCalled = true;
      if (nbSol > 0) {
        error = qdes - articularCoordinates;
        errsqr = error.sumSquare();
        // findHighestPositioningSpeed(error);
        set_artVel(error);
        if (errsqr < 1e-4) {
          set_artCoord(qdes);
          error = 0;
          set_artVel(error);
          set_velocity(error);
          break;
        }
      } else
        vpERROR_TRACE("Positionning error. Position unreachable");
    } while (errsqr > 1e-8 && nbSol > 0);
    break;
  }
  case vpRobot::MIXT_FRAME: {
    vpERROR_TRACE("Positionning error. Mixt frame not implemented");
    throw vpRobotException(vpRobotException::lowLevelError, "Positionning error: "
                                                            "MIXT_FRAME not implemented.");
  }
  case vpRobot::END_EFFECTOR_FRAME: {
    vpERROR_TRACE("Positionning error. Mixt frame not implemented");
    throw vpRobotException(vpRobotException::lowLevelError, "Positionning error: "
                                                            "END_EFFECTOR_FRAME not implemented.");
  }
  }
}

void vpSimulatorAfma6::setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2,
                                   double pos3, double pos4, double pos5, double pos6)
{
  try {
    vpColVector position(6);
    position[0] = pos1;
    position[1] = pos2;
    position[2] = pos3;
    position[3] = pos4;
    position[4] = pos5;
    position[5] = pos6;

    setPosition(frame, position);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

void vpSimulatorAfma6::setPosition(const char *filename)
{
  vpColVector q;
  bool ret;

  ret = this->readPosFile(filename, q);

  if (ret == false) {
    vpERROR_TRACE("Bad position in \"%s\"", filename);
    throw vpRobotException(vpRobotException::lowLevelError, "Bad position in filename.");
  }
  this->setRobotState(vpRobot::STATE_POSITION_CONTROL);
  this->setPosition(vpRobot::ARTICULAR_FRAME, q);
}

void vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)
{
  q.resize(6);

  switch (frame) {
  case vpRobot::CAMERA_FRAME: {
    q = 0;
    break;
  }

  case vpRobot::ARTICULAR_FRAME: {
    q = get_artCoord();
    break;
  }

  case vpRobot::REFERENCE_FRAME: {
    vpHomogeneousMatrix fMc_;
    vpAfma6::get_fMc(get_artCoord(), fMc_);

    vpRotationMatrix fRc;
    fMc_.extract(fRc);
    vpRxyzVector rxyz(fRc);

    vpTranslationVector txyz;
    fMc_.extract(txyz);

    for (unsigned int i = 0; i < 3; i++) {
      q[i] = txyz[i];
      q[i + 3] = rxyz[i];
    }
    break;
  }

  case vpRobot::MIXT_FRAME: {
    throw vpRobotException(vpRobotException::lowLevelError, "Positionning error: "
                                                            "Mixt frame not implemented.");
  }
  case vpRobot::END_EFFECTOR_FRAME: {
    throw vpRobotException(vpRobotException::lowLevelError, "Positionning error: "
                                                            "End-effector frame not implemented.");
  }
  }
}

void vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp)
{
  timestamp = vpTime::measureTimeSecond();
  getPosition(frame, q);
}

void vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position)
{
  vpColVector posRxyz;
  // recupere  position en Rxyz
  this->getPosition(frame, posRxyz);

  // recupere le vecteur thetaU correspondant
  vpThetaUVector RtuVect(vpRxyzVector(posRxyz[3], posRxyz[4], posRxyz[5]));

  // remplit le vpPoseVector avec translation et rotation ThetaU
  for (unsigned int j = 0; j < 3; j++) {
    position[j] = posRxyz[j];
    position[j + 3] = RtuVect[j];
  }
}

void vpSimulatorAfma6::getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp)
{
  timestamp = vpTime::measureTimeSecond();
  getPosition(frame, position);
}

void vpSimulatorAfma6::setJointLimit(const vpColVector &limitMin, const vpColVector &limitMax)
{
  if (limitMin.getRows() != 6 || limitMax.getRows() != 6) {
    vpTRACE("Joint limit vector has not a size of 6 !");
    return;
  }

  _joint_min[0] = limitMin[0];
  _joint_min[1] = limitMin[1];
  _joint_min[2] = limitMin[2];
  _joint_min[3] = limitMin[3];
  _joint_min[4] = limitMin[4];
  _joint_min[5] = limitMin[5];

  _joint_max[0] = limitMax[0];
  _joint_max[1] = limitMax[1];
  _joint_max[2] = limitMax[2];
  _joint_max[3] = limitMax[3];
  _joint_max[4] = limitMax[4];
  _joint_max[5] = limitMax[5];
}

bool vpSimulatorAfma6::singularityTest(const vpColVector &q, vpMatrix &J)
{
  double q5 = q[4];

  bool cond = fabs(q5 - M_PI / 2) < 1e-1;

  if (cond) {
    J[0][3] = 0;
    J[0][4] = 0;
    J[1][3] = 0;
    J[1][4] = 0;
    J[3][3] = 0;
    J[3][4] = 0;
    J[5][3] = 0;
    J[5][4] = 0;
    return true;
  }

  return false;
}

int vpSimulatorAfma6::isInJointLimit()
{
  int artNumb = 0;
  double diff = 0;
  double difft = 0;

  vpColVector articularCoordinates = get_artCoord();

  for (unsigned int i = 0; i < 6; i++) {
    if (articularCoordinates[i] <= _joint_min[i]) {
      difft = _joint_min[i] - articularCoordinates[i];
      if (difft > diff) {
        diff = difft;
        artNumb = -(int)i - 1;
      }
    }
  }

  for (unsigned int i = 0; i < 6; i++) {
    if (articularCoordinates[i] >= _joint_max[i]) {
      difft = articularCoordinates[i] - _joint_max[i];
      if (difft > diff) {
        diff = difft;
        artNumb = (int)(i + 1);
      }
    }
  }

  if (artNumb != 0)
    std::cout << "\nWarning: Velocity control stopped: axis " << fabs((float)artNumb) << " on joint limit!"
              << std::endl;

  return artNumb;
}

void vpSimulatorAfma6::getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &displacement)
{
  displacement.resize(6);
  displacement = 0;
  vpColVector q_cur(6);

  q_cur = get_artCoord();

  if (!first_time_getdis) {
    switch (frame) {
    case vpRobot::CAMERA_FRAME: {
      std::cout << "getDisplacement() CAMERA_FRAME not implemented\n";
      return;
    }
    case vpRobot::ARTICULAR_FRAME: {
      displacement = q_cur - q_prev_getdis;
      break;
    }
    case vpRobot::REFERENCE_FRAME: {
      std::cout << "getDisplacement() REFERENCE_FRAME not implemented\n";
      return;
    }
    case vpRobot::MIXT_FRAME: {
      std::cout << "getDisplacement() MIXT_FRAME not implemented\n";
      return;
    }
    case vpRobot::END_EFFECTOR_FRAME: {
      std::cout << "getDisplacement() END_EFFECTOR_FRAME not implemented\n";
      return;
    }
    }
  } else {
    first_time_getdis = false;
  }

  // Memorize the joint position for the next call
  q_prev_getdis = q_cur;
}

bool vpSimulatorAfma6::readPosFile(const std::string &filename, vpColVector &q)
{
  std::ifstream fd(filename.c_str(), std::ios::in);

  if (!fd.is_open()) {
    return false;
  }

  std::string line;
  std::string key("R:");
  std::string id("#AFMA6 - Position");
  bool pos_found = false;
  int lineNum = 0;

  q.resize(njoint);

  while (std::getline(fd, line)) {
    lineNum++;
    if (lineNum == 1) {
      if (!(line.compare(0, id.size(), id) == 0)) { // check if Afma6 position file
        std::cout << "Error: this position file " << filename << " is not for Afma6 robot" << std::endl;
        return false;
      }
    }
    if ((line.compare(0, 1, "#") == 0)) { // skip comment
      continue;
    }
    if ((line.compare(0, key.size(), key) == 0)) { // decode position
      // check if there are at least njoint values in the line
      std::vector<std::string> chain = vpIoTools::splitChain(line, std::string(" "));
      if (chain.size() < njoint + 1) // try to split with tab separator
        chain = vpIoTools::splitChain(line, std::string("\t"));
      if (chain.size() < njoint + 1)
        continue;

      std::istringstream ss(line);
      std::string key_;
      ss >> key_;
      for (unsigned int i = 0; i < njoint; i++)
        ss >> q[i];
      pos_found = true;
      break;
    }
  }

  // converts rotations from degrees into radians
  q[3] = vpMath::rad(q[3]);
  q[4] = vpMath::rad(q[4]);
  q[5] = vpMath::rad(q[5]);

  fd.close();

  if (!pos_found) {
    std::cout << "Error: unable to find a position for Afma6 robot in " << filename << std::endl;
    return false;
  }

  return true;
}

bool vpSimulatorAfma6::savePosFile(const std::string &filename, const vpColVector &q)
{
  FILE *fd;
  fd = fopen(filename.c_str(), "w");
  if (fd == NULL)
    return false;

  fprintf(fd, "\
#AFMA6 - Position - Version 2.01\n\
#\n\
# R: X Y Z A B C\n\
# Joint position: X, Y, Z: translations in meters\n\
#                 A, B, C: rotations in degrees\n\
#\n\
#\n\n");

  // Save positions in mm and deg
  fprintf(fd, "R: %lf %lf %lf %lf %lf %lf\n", q[0], q[1], q[2], vpMath::deg(q[3]), vpMath::deg(q[4]),
          vpMath::deg(q[5]));

  fclose(fd);
  return (true);
}

void vpSimulatorAfma6::move(const char *filename)
{
  vpColVector q;

  try {
    this->readPosFile(filename, q);
    this->setRobotState(vpRobot::STATE_POSITION_CONTROL);
    this->setPosition(vpRobot::ARTICULAR_FRAME, q);
  } catch (...) {
    throw;
  }
}

void vpSimulatorAfma6::get_cMe(vpHomogeneousMatrix &cMe) { vpAfma6::get_cMe(cMe); }

void vpSimulatorAfma6::get_cVe(vpVelocityTwistMatrix &cVe)
{
  vpHomogeneousMatrix cMe;
  vpAfma6::get_cMe(cMe);

  cVe.buildFrom(cMe);
}

void vpSimulatorAfma6::get_eJe(vpMatrix &eJe_)
{
  try {
    vpAfma6::get_eJe(get_artCoord(), eJe_);
  } catch (...) {
    vpERROR_TRACE("catch exception ");
    throw;
  }
}

void vpSimulatorAfma6::get_fJe(vpMatrix &fJe_)
{
  try {
    vpColVector articularCoordinates = get_artCoord();
    vpAfma6::get_fJe(articularCoordinates, fJe_);
  } catch (...) {
    vpERROR_TRACE("Error caught");
    throw;
  }
}

void vpSimulatorAfma6::stopMotion()
{
  if (getRobotState() != vpRobot::STATE_VELOCITY_CONTROL)
    return;

  vpColVector stop(6);
  stop = 0;
  set_artVel(stop);
  set_velocity(stop);
  vpRobot::setRobotState(vpRobot::STATE_STOP);
}

/**********************************************************************************/
/**********************************************************************************/
/**********************************************************************************/
/**********************************************************************************/

void vpSimulatorAfma6::initArms()
{
  // set scene_dir from #define VISP_SCENE_DIR if it exists
  // VISP_SCENES_DIR may contain multiple locations separated by ";"
  std::string scene_dir_;
  std::vector<std::string> scene_dirs = vpIoTools::splitChain(std::string(VISP_SCENES_DIR), std::string(";"));
  bool sceneDirExists = false;
  for (size_t i = 0; i < scene_dirs.size(); i++)
    if (vpIoTools::checkDirectory(scene_dirs[i]) == true) { // directory exists
      scene_dir_ = scene_dirs[i];
      sceneDirExists = true;
      break;
    }
  if (!sceneDirExists) {
    try {
      scene_dir_ = vpIoTools::getenv("VISP_SCENES_DIR");
      std::cout << "The simulator uses data from VISP_SCENES_DIR=" << scene_dir_ << std::endl;
    } catch (...) {
      std::cout << "Cannot get VISP_SCENES_DIR environment variable" << std::endl;
    }
  }

  unsigned int name_length = 30; // the size of this kind of string "/afma6_arm2.bnd"
  if (scene_dir_.size() > FILENAME_MAX)
    throw vpException(vpException::dimensionError, "Cannot initialize Afma6 simulator");
  unsigned int full_length = (unsigned int)scene_dir_.size() + name_length;
  if (full_length > FILENAME_MAX)
    throw vpException(vpException::dimensionError, "Cannot initialize Afma6 simulator");

  char *name_cam = new char[full_length];

  strcpy(name_cam, scene_dir_.c_str());
  strcat(name_cam, "/camera.bnd");
  set_scene(name_cam, &camera, cameraFactor);

  if (arm_dir.size() > FILENAME_MAX)
    throw vpException(vpException::dimensionError, "Cannot initialize Afma6 simulator");
  full_length = (unsigned int)arm_dir.size() + name_length;
  if (full_length > FILENAME_MAX)
    throw vpException(vpException::dimensionError, "Cannot initialize Afma6 simulator");

  char *name_arm = new char[full_length];
  strcpy(name_arm, arm_dir.c_str());
  strcat(name_arm, "/afma6_gate.bnd");
  std::cout << "name arm: " << name_arm << std::endl;
  set_scene(name_arm, robotArms, 1.0);
  strcpy(name_arm, arm_dir.c_str());
  strcat(name_arm, "/afma6_arm1.bnd");
  set_scene(name_arm, robotArms + 1, 1.0);
  strcpy(name_arm, arm_dir.c_str());
  strcat(name_arm, "/afma6_arm2.bnd");
  set_scene(name_arm, robotArms + 2, 1.0);
  strcpy(name_arm, arm_dir.c_str());
  strcat(name_arm, "/afma6_arm3.bnd");
  set_scene(name_arm, robotArms + 3, 1.0);
  strcpy(name_arm, arm_dir.c_str());
  strcat(name_arm, "/afma6_arm4.bnd");
  set_scene(name_arm, robotArms + 4, 1.0);

  vpAfma6::vpAfma6ToolType tool;
  tool = getToolType();
  strcpy(name_arm, arm_dir.c_str());
  switch (tool) {
  case vpAfma6::TOOL_CCMOP: {
    strcat(name_arm, "/afma6_tool_ccmop.bnd");
    break;
  }
  case vpAfma6::TOOL_GRIPPER: {
    strcat(name_arm, "/afma6_tool_gripper.bnd");
    break;
  }
  case vpAfma6::TOOL_VACUUM: {
    strcat(name_arm, "/afma6_tool_vacuum.bnd");
    break;
  }
  case vpAfma6::TOOL_CUSTOM: {
    std::cout << "The custom tool is not handled in vpSimulatorAfma6.cpp" << std::endl;
    break;
  }
  case vpAfma6::TOOL_GENERIC_CAMERA: {
    std::cout << "The generic camera is not handled in vpSimulatorAfma6.cpp" << std::endl;
    break;
  }
  }
  set_scene(name_arm, robotArms + 5, 1.0);

  add_rfstack(IS_BACK);

  add_vwstack("start", "depth", 0.0, 100.0);
  add_vwstack("start", "window", -0.1, 0.1, -0.1, 0.1);
  add_vwstack("start", "type", PERSPECTIVE);
  //
  //   sceneInitialized = true;
  //   displayObject = true;
  displayCamera = true;

  delete[] name_cam;
  delete[] name_arm;
}

void vpSimulatorAfma6::getExternalImage(vpImage<vpRGBa> &I_)
{
  bool changed = false;
  vpHomogeneousMatrix displacement = navigation(I_, changed);

  // if (displacement[2][3] != 0)
  if (std::fabs(displacement[2][3]) > std::numeric_limits<double>::epsilon())
    camMf2 = camMf2 * displacement;

  f2Mf = camMf2.inverse() * camMf;

  camMf = camMf2 * displacement * f2Mf;

  double u;
  double v;
  // if(px_ext != 1 && py_ext != 1)
  // we assume px_ext and py_ext > 0
  if ((std::fabs(px_ext - 1.) > vpMath::maximum(px_ext, 1.) * std::numeric_limits<double>::epsilon()) &&
      (std::fabs(py_ext - 1) > vpMath::maximum(py_ext, 1.) * std::numeric_limits<double>::epsilon())) {
    u = (double)I_.getWidth() / (2 * px_ext);
    v = (double)I_.getHeight() / (2 * py_ext);
  } else {
    u = (double)I_.getWidth() / (vpMath::minimum(I_.getWidth(), I_.getHeight()));
    v = (double)I_.getHeight() / (vpMath::minimum(I_.getWidth(), I_.getHeight()));
  }

  float w44o[4][4], w44cext[4][4], x, y, z;

  vp2jlc_matrix(camMf.inverse(), w44cext);

  add_vwstack("start", "cop", w44cext[3][0], w44cext[3][1], w44cext[3][2]);
  x = w44cext[2][0] + w44cext[3][0];
  y = w44cext[2][1] + w44cext[3][1];
  z = w44cext[2][2] + w44cext[3][2];
  add_vwstack("start", "vrp", x, y, z);
  add_vwstack("start", "vpn", w44cext[2][0], w44cext[2][1], w44cext[2][2]);
  add_vwstack("start", "vup", w44cext[1][0], w44cext[1][1], w44cext[1][2]);
  add_vwstack("start", "window", -u, u, -v, v);

  vpHomogeneousMatrix fMit[8];
  get_fMi(fMit);

  vp2jlc_matrix(vpHomogeneousMatrix(0, 0, 0, 0, 0, 0), w44o);
  display_scene(w44o, robotArms[0], I_, curColor);

  vp2jlc_matrix(fMit[0], w44o);
  display_scene(w44o, robotArms[1], I_, curColor);

  vp2jlc_matrix(fMit[2], w44o);
  display_scene(w44o, robotArms[2], I_, curColor);

  vp2jlc_matrix(fMit[3], w44o);
  display_scene(w44o, robotArms[3], I_, curColor);

  vp2jlc_matrix(fMit[4], w44o);
  display_scene(w44o, robotArms[4], I_, curColor);

  vp2jlc_matrix(fMit[5], w44o);
  display_scene(w44o, robotArms[5], I_, curColor);

  if (displayCamera) {
    vpHomogeneousMatrix cMe;
    get_cMe(cMe);
    cMe = cMe.inverse();
    cMe = fMit[6] * cMe;
    vp2jlc_matrix(cMe, w44o);
    display_scene(w44o, camera, I_, camColor);
  }

  if (displayObject) {
    vp2jlc_matrix(fMo, w44o);
    display_scene(w44o, scene, I_, curColor);
  }
}

bool vpSimulatorAfma6::initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo_)
{
  vpColVector stop(6);
  bool status = true;
  stop = 0;
  set_artVel(stop);
  set_velocity(stop);
  vpHomogeneousMatrix fMc_;
  fMc_ = fMo * cMo_.inverse();

  vpColVector articularCoordinates = get_artCoord();
  int nbSol = getInverseKinematics(fMc_, articularCoordinates, true, verbose_);

  if (nbSol == 0) {
    status = false;
    vpERROR_TRACE("Positionning error. Position unreachable");
  }

  if (verbose_)
    std::cout << "Used joint coordinates (rad): " << articularCoordinates.t() << std::endl;

  set_artCoord(articularCoordinates);

  compute_fMi();

  return status;
}

void vpSimulatorAfma6::initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo_)
{
  vpColVector stop(6);
  stop = 0;
  set_artVel(stop);
  set_velocity(stop);
  vpHomogeneousMatrix fMit[8];
  get_fMi(fMit);
  fMo = fMit[7] * cMo_;
}

bool vpSimulatorAfma6::setPosition(const vpHomogeneousMatrix &cdMo_, vpImage<unsigned char> *Iint, const double &errMax)
{
  // get rid of max velocity
  double vMax = getMaxTranslationVelocity();
  double wMax = getMaxRotationVelocity();
  setMaxTranslationVelocity(10. * vMax);
  setMaxRotationVelocity(10. * wMax);

  vpColVector v(3), w(3), vel(6);
  vpHomogeneousMatrix cdMc;
  vpTranslationVector cdTc;
  vpRotationMatrix cdRc;
  vpThetaUVector cdTUc;
  vpColVector err(6);
  err = 1.;
  const double lambda = 5.;

  vpVelocityTwistMatrix cVe;

  unsigned int i, iter = 0;
  while ((iter++ < 300) & (err.frobeniusNorm() > errMax)) {
    double t = vpTime::measureTimeMs();

    // update image
    if (Iint != NULL) {
      vpDisplay::display(*Iint);
      getInternalView(*Iint);
      vpDisplay::flush(*Iint);
    }

    // update pose error
    cdMc = cdMo_ * get_cMo().inverse();
    cdMc.extract(cdRc);
    cdMc.extract(cdTc);
    cdTUc.buildFrom(cdRc);

    // compute v,w and velocity
    v = -lambda * cdRc.t() * cdTc;
    w = -lambda * cdTUc;
    for (i = 0; i < 3; ++i) {
      vel[i] = v[i];
      vel[i + 3] = w[i];
      err[i] = cdTc[i];
      err[i + 3] = cdTUc[i];
    }

    // update feat
    setVelocity(vpRobot::CAMERA_FRAME, vel);

    // wait for it
    vpTime::wait(t, 10);
  }
  vel = 0.;
  set_velocity(vel);
  set_artVel(vel);
  setMaxTranslationVelocity(vMax);
  setMaxRotationVelocity(wMax);

  // std::cout << "setPosition: final error " << err.t() << std::endl;
  return (err.frobeniusNorm() <= errMax);
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_robot.a(vpSimulatorAfma6.cpp.o) has
// no symbols
void dummy_vpSimulatorAfma6(){};
#endif