vpRobotKinova.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 Kinova Jaco robot.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef vpRobotKinova_h
#define vpRobotKinova_h

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_JACOSDK

#include <KinovaTypes.h>

#ifdef __linux__ 
#include <dlfcn.h>
#include <vector>
#include <stdio.h>
#include <unistd.h>
#include <Kinova.API.CommLayerUbuntu.h>
#include <Kinova.API.UsbCommandLayerUbuntu.h>
#elif _WIN32
#include <Windows.h>
#include <conio.h>
#include <iostream>
#include <CommunicationLayer.h>
#include <CommandLayer.h>
#endif

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/robot/vpRobot.h>

class VISP_EXPORT vpRobotKinova : public vpRobot
{
public:
  typedef enum {
    CMD_LAYER_USB,
    CMD_LAYER_ETHERNET,
    CMD_LAYER_UNSET
  } CommandLayer;

  vpRobotKinova();
  virtual ~vpRobotKinova();

  int connect();

  void get_eJe(vpMatrix &eJe);
  void get_fJe(vpMatrix &fJe);

  vpHomogeneousMatrix get_eMc() const { return m_eMc; }

  int getActiveDevice() const { return m_active_device; }
  int getNumDevices() const { return m_devices_count; }
  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q);
  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &pose);

  void homing();

  void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
  void setActiveDevice(int device);
  void setCommandLayer(CommandLayer command_layer) { m_command_layer = command_layer; }
  void setDoF(unsigned int dof);
  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
  void setPluginLocation(const std::string &plugin_location) { m_plugin_location = plugin_location;  }
  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
  void setVerbose(bool verbose) { m_verbose = verbose; }

protected:
  void closePlugin();
  void getJointPosition(vpColVector &q);
  void init();
  void loadPlugin();
  void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
  void setJointVelocity(const vpColVector &qdot);

protected:
  vpHomogeneousMatrix m_eMc; 
  std::string m_plugin_location;
  bool m_verbose;
  bool m_plugin_loaded;
  int m_devices_count;
  KinovaDevice *m_devices_list;
  int m_active_device;
  CommandLayer m_command_layer;

#ifdef __linux__ 
  void * m_command_layer_handle;    
#elif _WIN32
  HINSTANCE m_command_layer_handle; 
#endif

private:
  int (*KinovaCloseAPI)();
  int (*KinovaGetAngularCommand)(AngularPosition &);
  int (*KinovaGetCartesianCommand)(CartesianPosition &);
  int (*KinovaGetDevices)(KinovaDevice devices[MAX_KINOVA_DEVICE], int &result);
  int (*KinovaInitFingers)();
  int (*KinovaInitAPI)();
  int (*KinovaMoveHome)();
  int (*KinovaSendBasicTrajectory)(TrajectoryPoint command);
  int (*KinovaSetActiveDevice)(KinovaDevice device);
  int (*KinovaSetAngularControl)();
  int (*KinovaSetCartesianControl)();
};

#endif
#endif