vpViper.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 a  generic ADEPT Viper (either 650 or 850) robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpViper_h
#define vpViper_h

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpRGBa.h>
#include <visp3/core/vpVelocityTwistMatrix.h>
#include <visp3/robot/vpRobotException.h>

class VISP_EXPORT vpViper
{
public:
  vpViper();
  virtual ~vpViper(){};

  vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
  unsigned int getInverseKinematicsWrist(const vpHomogeneousMatrix &fMw, vpColVector &q,
                                         const bool &verbose = false) const;
  unsigned int getInverseKinematics(const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &verbose = false) const;
  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
  void get_fMw(const vpColVector &q, vpHomogeneousMatrix &fMw) const;
  void get_wMe(vpHomogeneousMatrix &wMe) const;
  void get_eMc(vpHomogeneousMatrix &eMc) const;
  void get_eMs(vpHomogeneousMatrix &eMs) const;
  void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;

  void get_cMe(vpHomogeneousMatrix &cMe) const;
  void get_cVe(vpVelocityTwistMatrix &cVe) const;
  void get_fJw(const vpColVector &q, vpMatrix &fJw) const;
  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;

  virtual void set_eMc(const vpHomogeneousMatrix &eMc_);
  virtual void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);

  vpColVector getJointMin() const;
  vpColVector getJointMax() const;
  double getCoupl56() const;

  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpViper &viper);

private:
  bool convertJointPositionInLimits(unsigned int joint, const double &q, double &q_mod,
                                    const bool &verbose = false) const;

public:
  static const unsigned int njoint; 

protected:
  vpHomogeneousMatrix eMc; 
  // Minimal representation of eMc
  vpTranslationVector etc; // meters
  vpRxyzVector erc;        // radian

  // Denavit-Hartenberg parameters
  double a1, d1; 
  double a2;     
  double a3;     
  double d4;     
  double d6;     
  double d7;     
  double c56;    

  // Software joint limits in radians
  vpColVector joint_max; // Maximal value of the joints
  vpColVector joint_min; // Minimal value of the joints
};

#endif