#include <vpRobotTemplate.h>

Inheritance diagram for vpRobotTemplate:

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
	vpRobotTemplate ()

virtual	~vpRobotTemplate ()

void	get_eJe (vpMatrix &eJe_)

void	get_fJe (vpMatrix &fJe_)

vpHomogeneousMatrix	get_eMc () const

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

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

void	set_eMc (vpHomogeneousMatrix &eMc)

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

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

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)

virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

void	setVerbose (bool verbose)

Static Public Member Functions
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	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

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

Class that defines a robot just to show which function you must implement.

Definition at line 61 of file vpRobotTemplate.h.

Member Enumeration Documentation

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.

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

vpRobotTemplate::vpRobotTemplate ( )

Default constructor.

Definition at line 69 of file vpRobotTemplate.cpp.

References init().

vpRobotTemplate::~vpRobotTemplate ( )

virtual

Destructor.

Definition at line 78 of file vpRobotTemplate.cpp.

Member Function Documentation

void vpRobotTemplate::get_eJe ( vpMatrix & eJe_ )

virtual

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

Parameters

[out] eJe_ : End-effector frame Jacobian.

Implements vpRobot.

Definition at line 97 of file vpRobotTemplate.cpp.

vpHomogeneousMatrix vpRobotTemplate::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 74 of file vpRobotTemplate.h.

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

void vpRobotTemplate::get_fJe ( vpMatrix & fJe_ )

virtual

Get the robot Jacobian expressed in the robot reference frame.

Parameters

[out] fJe_ : Base (or reference) frame Jacobian.

Implements vpRobot.

Definition at line 108 of file vpRobotTemplate.cpp.

void vpRobotTemplate::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 312 of file vpRobotTemplate.cpp.

void vpRobotTemplate::getJointPosition ( vpColVector & q )

protected

Get robot joint positions.

Parameters

[in] q : Joint velocities in rad/s.

Definition at line 271 of file vpRobotTemplate.cpp.

Referenced by getPosition().

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.

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.

void vpRobotTemplate::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.

Definition at line 283 of file vpRobotTemplate.cpp.

References getJointPosition(), and vpRobot::JOINT_STATE.

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().

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 172 of file vpRobot.h.

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

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 144 of file vpRobot.h.

void vpRobotTemplate::init ( void )

protectedvirtual

Basic initialization.

Implements vpRobot.

Definition at line 54 of file vpRobotTemplate.cpp.

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

Referenced by vpRobotTemplate().

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

void vpRobotTemplate::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.

Definition at line 83 of file vpRobotTemplate.h.

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

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

protected

Send to the controller a 6-dim velocity twist 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 twist to send to the robot. Units are m/s and rad/s.

Definition at line 131 of file vpRobotTemplate.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().

void vpRobotTemplate::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 192 of file vpRobotTemplate.cpp.

Referenced by setVelocity().

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().

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().

void vpRobotTemplate::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.

Definition at line 299 of file vpRobotTemplate.cpp.

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().

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType newState )

virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotFlirPtu, vpRobotBiclops, and vpRobotPtu46.

Examples:: moveBiclops.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoKinovaJacoCart.cpp, servoKinovaJacoJoint.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 201 of file vpRobot.cpp.

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotFranka::getHandler(), vpRobotFlirPtu::set_eMc(), vpSimulatorCamera::setPosition(), vpRobotCamera::setPosition(), vpSimulatorAfma6::setPositioningVelocity(), vpSimulatorViper850::setPositioningVelocity(), vpRobotPtu46::setRobotState(), vpRobotBiclops::setRobotState(), vpRobotFlirPtu::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFranka::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

void vpRobotTemplate::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.

Definition at line 210 of file vpRobotTemplate.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.