vpSimulatorViper850.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:
 * Class which provides a simulator for the robot Viper850.
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/

#ifndef vpSimulatorViper850_HH
#define vpSimulatorViper850_HH

#include <visp3/robot/vpRobotWireFrameSimulator.h>
#if defined(VISP_HAVE_MODULE_GUI) && ((defined(_WIN32) && !defined(WINRT_8_0)) || defined(VISP_HAVE_PTHREAD))

#include <string>

#include <visp3/robot/vpViper850.h>

class VISP_EXPORT vpSimulatorViper850 : public vpRobotWireFrameSimulator, public vpViper850
{
public:
  static const double defaultPositioningVelocity;

private:
  vpColVector q_prev_getdis;
  bool first_time_getdis;

  double positioningVelocity;

  vpColVector zeroPos;
  vpColVector reposPos;

  bool toolCustom;
  std::string arm_dir;

public:
  vpSimulatorViper850();
  explicit vpSimulatorViper850(bool display);
  virtual ~vpSimulatorViper850();

  void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height);
  void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I);
  void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I);

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

  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q);
  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp);
  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
  double getPositioningVelocity(void) { return positioningVelocity; }

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

  void get_cMe(vpHomogeneousMatrix &cMe);
  void get_cVe(vpVelocityTwistMatrix &cVe);
  void get_eJe(vpMatrix &eJe);
  void get_fJe(vpMatrix &fJe);

  void
  init(vpViper850::vpToolType tool,
       vpCameraParameters::vpCameraParametersProjType projModel = vpCameraParameters::perspectiveProjWithoutDistortion);
  bool initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo);
  void initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo);

  void move(const char *filename);

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

  void setCameraParameters(const vpCameraParameters &cam);
  void setJointLimit(const vpColVector &limitMin, const vpColVector &limitMax);
  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
  void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3,
                   double pos4, double pos5, double pos6);
  void setPosition(const char *filename);
  void setPositioningVelocity(double vel) { positioningVelocity = vel; }
  vpRobot::vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);

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

  void stopMotion();

protected:
  void computeArticularVelocity();
  void compute_fMi();
  void findHighestPositioningSpeed(vpColVector &q);
  void getExternalImage(vpImage<vpRGBa> &I);

  inline void get_fMi(vpHomogeneousMatrix *fMit)
  {
#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++)
      fMit[i] = fMi[i];
    ReleaseMutex(mutex_fMi);
#elif defined(VISP_HAVE_PTHREAD)
    pthread_mutex_lock(&mutex_fMi);
    for (int i = 0; i < 8; i++)
      fMit[i] = fMi[i];
    pthread_mutex_unlock(&mutex_fMi);
#endif
  }
  void init();
  void initArms();
  void initDisplay();
  int isInJointLimit(void);
  bool singularityTest(const vpColVector &q, vpMatrix &J);
  void updateArticularPosition();
};

#endif

#endif