#include <visp3/robot/vpAfma6.h>

Inheritance diagram for vpAfma6:

Public Types
enum	vpAfma6ToolType { TOOL_CCMOP, TOOL_GRIPPER, TOOL_VACUUM, TOOL_GENERIC_CAMERA, TOOL_INTEL_D435_CAMERA, TOOL_CUSTOM }

Public Member Functions
	vpAfma6 ()

virtual	~vpAfma6 ()

Inherited functionalities from vpAfma6
void	init (void)

void	init (const std::string &camera_extrinsic_parameters)

void	init (const std::string &camera_extrinsic_parameters, const std::string &camera_intrinsic_parameters)

void	init (vpAfma6::vpAfma6ToolType tool, const std::string &filename)

void	init (vpAfma6::vpAfma6ToolType tool, const vpHomogeneousMatrix &eMc_)

void	init (vpAfma6::vpAfma6ToolType tool, vpCameraParameters::vpCameraParametersProjType projModel=vpCameraParameters::perspectiveProjWithoutDistortion)

vpHomogeneousMatrix	getForwardKinematics (const vpColVector &q) const

int	getInverseKinematics (const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &nearest=true, const bool &verbose=false) const

vpHomogeneousMatrix	get_eMc () const

vpHomogeneousMatrix	get_fMc (const vpColVector &q) 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_eJe (const vpColVector &q, vpMatrix &eJe) const

void	get_fJe (const vpColVector &q, vpMatrix &fJe) const

vpAfma6ToolType	getToolType () const

vpCameraParameters::vpCameraParametersProjType	getCameraParametersProjType () const

void	getCameraParameters (vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const

void	getCameraParameters (vpCameraParameters &cam, const vpImage< unsigned char > &I) const

void	getCameraParameters (vpCameraParameters &cam, const vpImage< vpRGBa > &I) const

vpColVector	getJointMin () const

vpColVector	getJointMax () const

double	getCoupl56 () const

double	getLong56 () const

void	parseConfigFile (const std::string &filename)

virtual void	set_eMc (const vpHomogeneousMatrix &eMc)

Static Public Attributes
static const std::string	CONST_AFMA6_FILENAME

static const std::string	CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME

static const std::string	CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME

static const std::string	CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME

static const std::string	CONST_EMC_INTEL_D435_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_INTEL_D435_WITH_DISTORTION_FILENAME

static const std::string	CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME

static const std::string	CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME

static const std::string	CONST_CAMERA_AFMA6_FILENAME

static const char *const	CONST_CCMOP_CAMERA_NAME = "Dragonfly2-8mm-ccmop"

static const char *const	CONST_GRIPPER_CAMERA_NAME = "Dragonfly2-6mm-gripper"

static const char *const	CONST_VACUUM_CAMERA_NAME = "Dragonfly2-6mm-vacuum"

static const char *const	CONST_GENERIC_CAMERA_NAME = "Generic-camera"

static const char *const	CONST_INTEL_D435_CAMERA_NAME = "Intel-D435"

static const vpAfma6ToolType	defaultTool = TOOL_CCMOP

static const unsigned int	njoint = 6

Protected Member Functions
Protected Member Functions Inherited from vpAfma6
void	setToolType (vpAfma6::vpAfma6ToolType tool)

Protected Attributes
double	_coupl_56

double	_long_56

double	_joint_max [6]

double	_joint_min [6]

vpTranslationVector	_etc

vpRxyzVector	_erc

vpHomogeneousMatrix	_eMc

vpAfma6ToolType	tool_current

vpCameraParameters::vpCameraParametersProjType	projModel

Friends
VISP_EXPORT std::ostream &	operator<< (std::ostream &os, const vpAfma6 &afma6)

Detailed Description

Modelisation of Irisa's gantry robot named Afma6.

In this modelisation, different frames have to be considered.

${\cal F}_f$ : the reference frame, also called world frame
${\cal F}_e$ : the end-effector frame located at the intersection of the 3 rotations.
${\cal F}_c$ : the camera or tool frame, with $^f{\bf M}_c = ^f{\bf M}_e \; ^e{\bf M}_c$ where $^e{\bf M}_c$ is the result of a calibration stage. We can also consider a custom tool TOOL_CUSTOM and set this tool during robot initialisation or using set_eMc().

Examples:: testAfma6.cpp.

Definition at line 78 of file vpAfma6.h.

Member Enumeration Documentation

◆ vpAfma6ToolType

enum vpAfma6::vpAfma6ToolType

List of possible tools that can be attached to the robot end-effector.

Enumerator
TOOL_CCMOP	Pneumatic CCMOP gripper.
TOOL_GRIPPER	Pneumatic gripper with 2 fingers.
TOOL_VACUUM	Pneumatic vaccum gripper.
TOOL_GENERIC_CAMERA	A generic camera.
TOOL_INTEL_D435_CAMERA	Intel D435 camera
TOOL_CUSTOM	A user defined tool.

Definition at line 126 of file vpAfma6.h.

Constructor & Destructor Documentation

◆ vpAfma6()

vpAfma6::vpAfma6 ( )

Default constructor.

Definition at line 121 of file vpAfma6.cpp.

References _coupl_56, _eMc, _joint_max, _joint_min, _long_56, vpHomogeneousMatrix::eye(), and init().

◆ ~vpAfma6()

virtual vpAfma6::~vpAfma6 ( )

inlinevirtual

Destructor that does nothing.

Definition at line 141 of file vpAfma6.h.

References vpCameraParameters::perspectiveProjWithoutDistortion.

Member Function Documentation

◆ get_cMe()

void vpAfma6::get_cMe ( vpHomogeneousMatrix & cMe ) const

Get the geometric transformation between the camera frame and the end-effector frame. This transformation is constant and correspond to the extrinsic camera parameters estimated by calibration.

Parameters

cMe	: Transformation between the camera frame and the end-effector frame.

Definition at line 888 of file vpAfma6.cpp.

References _eMc, and vpHomogeneousMatrix::inverse().

Referenced by vpSimulatorAfma6::get_cMe(), vpRobotAfma6::get_cMe(), get_cVe(), vpSimulatorAfma6::get_cVe(), vpRobotAfma6::get_cVe(), and vpSimulatorAfma6::getPositioningVelocity().

◆ get_cVe()

void vpAfma6::get_cVe ( vpVelocityTwistMatrix & cVe ) const

Get the twist transformation from camera frame to end-effector frame. This transformation allows to compute a velocity expressed in the end-effector frame into the camera frame.

Parameters

cVe	: Twist transformation.

Definition at line 910 of file vpAfma6.cpp.

References vpVelocityTwistMatrix::buildFrom(), and get_cMe().

Referenced by vpSimulatorAfma6::getPositioningVelocity().

◆ get_eJe()

void vpAfma6::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe
	)		const

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

Parameters

q	: Articular joint position of the robot. q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 successives rotations expressed in radians.
eJe	: Robot jacobian expressed in the end-effector frame.

Definition at line 932 of file vpAfma6.cpp.

References _coupl_56, _long_56, and vpArray2D< Type >::resize().

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::get_eJe(), vpRobotAfma6::get_eJe(), vpSimulatorAfma6::getPositioningVelocity(), and vpSimulatorAfma6::getVelocity().

◆ get_eMc()

vpHomogeneousMatrix vpAfma6::get_eMc ( ) const

Get the geometric transformation between the end-effector frame and the camera or tool frame. This transformation is constant and correspond to the extrinsic camera parameters estimated by calibration.

Returns: Transformation between the end-effector frame and the camera frame.

Definition at line 899 of file vpAfma6.cpp.

References _eMc.

◆ get_fJe()

void vpAfma6::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe
	)		const

Get the robot jacobian expressed in the robot reference frame also called fix frame.

${^f}J_e = \left(\begin{array}{cccccc} 1 & 0 & 0 & -Ls4 & 0 & 0 \\ 0 & 1 & 0 & Lc4 & 0 & 0 \\ 0 & 0 & 1 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & c4+\gamma s4c5 & -s4c5 \\ 0 & 0 & 0 & 0 & s4-\gamma c4c5 & c4c5 \\ 0 & 0 & 0 & 1 & -gamma s5 & s5 \\ \end{array} \right)$

where $\gamma$ is the coupling factor between join 5 and 6.

Parameters

q	: Articular joint position of the robot. q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 successives rotations expressed in radians.
fJe	: Robot jacobian expressed in the robot reference frame.

Definition at line 1002 of file vpAfma6.cpp.

References _coupl_56, _long_56, and vpArray2D< Type >::resize().

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::get_fJe(), vpRobotAfma6::get_fJe(), vpSimulatorAfma6::getPositioningVelocity(), and vpSimulatorAfma6::getVelocity().

◆ get_fMc() [1/2]

vpHomogeneousMatrix vpAfma6::get_fMc ( const vpColVector & q ) const

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the six joints.

This method is the same than getForwardKinematics(const vpColVector & q).

Parameters

q	: Articular position of the six joints: q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 successives rotations expressed in radians.

Returns: The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the base frame and the camera frame (fMc).

See also: getForwardKinematics(const vpColVector & q)

Examples:: testRobotAfma6Pose.cpp.

Definition at line 775 of file vpAfma6.cpp.

Referenced by vpSimulatorAfma6::compute_fMi(), vpRobotAfma6::getDisplacement(), getForwardKinematics(), vpSimulatorAfma6::getPosition(), vpRobotAfma6::getPosition(), vpRobotAfma6::getVelocity(), vpSimulatorAfma6::setPosition(), and vpRobotAfma6::setPosition().

◆ get_fMc() [2/2]

void vpAfma6::get_fMc	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMc
	)		const

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the six joints.

Parameters

q	: Articular joint position of the robot. q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 successives rotations expressed in radians.
fMc	The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the fix frame and the camera frame (fMc).

Definition at line 802 of file vpAfma6.cpp.

References _eMc, and get_fMe().

◆ get_fMe()

void vpAfma6::get_fMe	(	const vpColVector &	q,
		vpHomogeneousMatrix &	fMe
	)		const

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the end effector with respect to the base frame given the articular positions of all the six joints.

Parameters

q	: Articular joint position of the robot. q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 successives rotations expressed in radians.
fMe	The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the fix frame and the end effector frame (fMe).

Definition at line 835 of file vpAfma6.cpp.

References _coupl_56, and _long_56.

Referenced by get_fMc().

◆ getCameraParameters() [1/3]

void vpAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const unsigned int &	image_width,
		const unsigned int &	image_height
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Warning: This method needs XML library to parse the file defined in vpAfma6::CONST_CAMERA_AFMA6_FILENAME and containing the camera parameters.; Thid method needs also an access to the files containing the camera parameters in XML format. This access is available if VISP_HAVE_AFMA6_DATA macro is defined in include/visp3/core/vpConfig.h file.

If VISP_HAVE_AFMA6_DATA is defined, this method gets the camera parameters from const_camera_Afma6.xml config file.
If this macro is not defined, this method sets the camera parameters to default one.

Parameters

cam	: In output, camera parameters to fill.
image_width	: Image width used to compute camera calibration.
image_height	: Image height used to compute camera calibration.

The code below shows how to get the camera parameters of the camera attached to the robot.

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
int main()
{
#if defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_AFMA6)
  vpImage<unsigned char> I;
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
  vpRobotAfma6 robot;
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  // Camera parameters are read from
  // /udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml
  // if VISP_HAVE_AFMA6_DATA macro is defined in vpConfig.h file
  try {
    robot.getCameraParameters (cam, I.getWidth(), I.getHeight());
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Examples:: servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, testAfma6.cpp, testRobotAfma6.cpp, and testRobotAfma6Pose.cpp.

Definition at line 1256 of file vpAfma6.cpp.

References CONST_CAMERA_AFMA6_FILENAME, CONST_CCMOP_CAMERA_NAME, CONST_GENERIC_CAMERA_NAME, CONST_GRIPPER_CAMERA_NAME, CONST_INTEL_D435_CAMERA_NAME, CONST_VACUUM_CAMERA_NAME, getToolType(), vpCameraParameters::initPersProjWithDistortion(), vpCameraParameters::initPersProjWithoutDistortion(), vpException::notImplementedError, vpXmlParserCamera::parse(), vpCameraParameters::perspectiveProjWithDistortion, vpCameraParameters::perspectiveProjWithoutDistortion, projModel, vpCameraParameters::ProjWithKannalaBrandtDistortion, vpRobotException::readingParametersError, vpXmlParserCamera::SEQUENCE_OK, TOOL_CCMOP, TOOL_GENERIC_CAMERA, TOOL_GRIPPER, TOOL_INTEL_D435_CAMERA, TOOL_VACUUM, vpERROR_TRACE, and vpTRACE.

Referenced by getCameraParameters().

◆ getCameraParameters() [2/3]

void vpAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const vpImage< unsigned char > &	I
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Camera parameters are read from /udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml

Parameters

cam	: In output, camera parameters to fill.
I	: A B&W image send by the current camera in use.

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
int main()
{
#if defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_AFMA6)
  vpImage<unsigned char> I;
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
  vpRobotAfma6 robot;
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  try {
    robot.getCameraParameters (cam, I);
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Definition at line 1488 of file vpAfma6.cpp.

References getCameraParameters(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

◆ getCameraParameters() [3/3]

void vpAfma6::getCameraParameters	(	vpCameraParameters &	cam,
		const vpImage< vpRGBa > &	I
	)		const

Get the current intrinsic camera parameters obtained by calibration.

Camera parameters are read from /udd/fspindle/robot/Afma6/current/include/const_camera_Afma6.xml

Parameters

cam	: In output, camera parameters to fill.
I	: A color image send by the current camera in use.

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
#include <visp3/robot/vpRobotAfma6.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
int main()
{
#if defined(VISP_HAVE_DC1394) && defined(VISP_HAVE_AFMA6)
  vpImage<vpRGBa> I;
  vp1394TwoGrabber g;
  // Acquire an image to update image structure
  g.acquire(I) ;
  vpRobotAfma6 robot;
  vpCameraParameters cam ;
  // Get the intrinsic camera parameters depending on the image size
  try {
    robot.getCameraParameters (cam, I);
  }
  catch(...) {
    std::cout << "Cannot get camera parameters for image: " << I.getWidth() << " x " << I.getHeight() << std::endl;
  }
  std::cout << "Camera parameters: " << cam << std::endl;
#endif
}

Exceptions

vpRobotException::readingParametersError : If the camera parameters are not found.

Definition at line 1535 of file vpAfma6.cpp.

References getCameraParameters(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

◆ getCameraParametersProjType()

vpCameraParameters::vpCameraParametersProjType vpAfma6::getCameraParametersProjType ( ) const

inline

Get the current camera model projection type.

Definition at line 171 of file vpAfma6.h.

◆ getCoupl56()

double vpAfma6::getCoupl56 ( ) const

Return the coupling factor between join 5 and 6.

Returns: Coupling factor between join 5 and 6.

Definition at line 1073 of file vpAfma6.cpp.

References _coupl_56.

◆ getForwardKinematics()

vpHomogeneousMatrix vpAfma6::getForwardKinematics ( const vpColVector & q ) const

Compute the forward kinematics (direct geometric model) as an homogeneous matrix.

By forward kinematics we mean here the position and the orientation of the camera relative to the base frame given the articular positions of all the six joints.

This method is the same than get_fMc(const vpColVector & q).

Parameters

q	: Articular position of the six joints: q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 successives rotations expressed in radians.

Returns: The homogeneous matrix corresponding to the direct geometric model which expresses the transformation between the base frame and the camera frame (fMc).

See also: get_fMc(const vpColVector & q); getInverseKinematics()

Definition at line 520 of file vpAfma6.cpp.

References get_fMc().

◆ getInverseKinematics()

int vpAfma6::getInverseKinematics	(	const vpHomogeneousMatrix &	fMc,
		vpColVector &	q,
		const bool &	nearest = `true`,
		const bool &	verbose = `false`
	)		const

Compute the inverse kinematics (inverse geometric model).

By inverse kinematics we mean here the six articular values of the joint positions given the position and the orientation of the camera frame relative to the base frame.

Parameters

fMc	: Homogeneous matrix describing the transformation from base frame to the camera frame.
q	: In input, the current articular joint position of the robot. In output, the solution of the inverse kinematics. Articular position of the six joints: q[0], q[1], q[2] correspond to the first 3 translations expressed in meter, while q[3], q[4] and q[5] correspond to the 3 successives rotations expressed in radians.
nearest	: true to return the nearest solution to q. false to return the farest.
verbose	: Activates printings when no solution is found.

Returns: The number of solutions (1 or 2) of the inverse geometric model. O, if no solution can be found.

The code below shows how to compute the inverse geometric model:

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/robot/vpRobotAfma6.h>
int main()
{
#ifdef VISP_HAVE_AFMA6
  vpColVector q1(6), q2(6);
  vpHomogeneousMatrix fMc;
  vpRobotAfma6 robot;
  // Get the current articular position of the robot
  robot.getPosition(vpRobot::ARTICULAR_FRAME, q1);
  // Compute the pose of the camera in the reference frame using the
  // direct geometric model
  fMc = robot.getForwardKinematics(q1);
  // this is similar to  fMc = robot.get_fMc(q1);
  // or robot.get_fMc(q1, fMc);
  // Compute the inverse geometric model
  int nbsol; // number of solutions (0, 1 or 2) of the inverse geometric model
  // get the nearest solution to the current articular position
  nbsol = robot.getInverseKinematics(fMc, q1, true);
  if (nbsol == 0)
    std::cout << "No solution of the inverse geometric model " << std::endl;
  else if (nbsol >= 1)
    std::cout << "First solution: " << q1 << std::endl;
  if (nbsol == 2) {
    // Compute the other solution of the inverse geometric model
    q2 = q1;
    robot.getInverseKinematics(fMc, q2, false);
    std::cout << "Second solution: " << q2 << std::endl;
  }
#endif
}

See also: getForwardKinematics()

Definition at line 600 of file vpAfma6.cpp.

References _coupl_56, _eMc, _joint_max, _joint_min, _long_56, vpMath::deg(), vpArray2D< Type >::getRows(), vpHomogeneousMatrix::inverse(), njoint, vpMath::rad(), vpColVector::resize(), and vpTRACE.

Referenced by vpSimulatorAfma6::initialiseCameraRelativeToObject(), vpSimulatorAfma6::setPosition(), and vpRobotAfma6::setPosition().

◆ getJointMax()

vpColVector vpAfma6::getJointMax ( ) const

Get max joint values.

Returns: Maximal joint values for the 6 dof X,Y,Z,A,B,C. Translation X,Y,Z are expressed in meters. Rotation A,B,C in radians.

Definition at line 1059 of file vpAfma6.cpp.

References _joint_max.

◆ getJointMin()

vpColVector vpAfma6::getJointMin ( ) const

Get min joint values.

Returns: Minimal joint values for the 6 dof X,Y,Z,A,B,C. Translation X,Y,Z are expressed in meters. Rotation A,B,C in radians.

Definition at line 1043 of file vpAfma6.cpp.

References _joint_min.

◆ getLong56()

double vpAfma6::getLong56 ( ) const

Return the distance between join 5 and 6.

Returns: Distance between join 5 and 6.

Definition at line 1081 of file vpAfma6.cpp.

References _long_56.

◆ getToolType()

vpAfma6ToolType vpAfma6::getToolType ( ) const

inline

Get the current tool type.

Definition at line 169 of file vpAfma6.h.

Referenced by getCameraParameters(), vpSimulatorAfma6::getCameraParameters(), and vpSimulatorAfma6::initArms().

◆ init() [1/6]

void vpAfma6::init ( void )

Initialize the robot with the default tool vpAfma6::defaultTool.

Examples:: testAfma6.cpp.

Definition at line 160 of file vpAfma6.cpp.

References defaultTool.

Referenced by vpSimulatorAfma6::get_fMi(), vpSimulatorAfma6::getPositioningVelocity(), init(), vpRobotAfma6::init(), and vpAfma6().

◆ init() [2/6]

void vpAfma6::init ( const std::string & camera_extrinsic_parameters )

Read files containing the constant parameters related to the robot tools in order to set the end-effector to tool transformation.

Parameters

camera_extrinsic_parameters : Filename containing the camera extrinsic parameters.

Definition at line 230 of file vpAfma6.cpp.

References parseConfigFile().

◆ init() [3/6]

void vpAfma6::init	(	const std::string &	camera_extrinsic_parameters,
		const std::string &	camera_intrinsic_parameters
	)

Read files containing the constant parameters related to the robot kinematics and to the end-effector to camera transformation.

Parameters

camera_extrinsic_parameters	: Filename containing the constant parameters of the robot kinematics $^e{\bf M}_c$ transformation.
camera_intrinsic_parameters	: Filename containing the camera extrinsic parameters.

Definition at line 178 of file vpAfma6.cpp.

References parseConfigFile().

◆ init() [4/6]

void vpAfma6::init	(	vpAfma6::vpAfma6ToolType	tool,
		const std::string &	filename
	)

Set the type of tool attached to the robot and transformation between the end-effector and the tool ( $^e{\bf M}c$ ). This last parameter is loaded from a file.

Parameters

tool	: Type of tool in use.
filename	: Path of the configuration file containing the transformation between the end-effector frame and the tool frame.

The configuration file should have the form below:

# Start with any number of consecutive lines
# beginning with the symbol '#'
#
# The 3 following lines contain the name of the camera,
# the rotation parameters of the geometric transformation
# using the Euler angles in degrees with convention XYZ and
# the translation parameters expressed in meters
CAMERA CameraName
eMc_ROT_XYZ 10.0 -90.0 20.0
eMc_TRANS_XYZ  0.05 0.01 0.06

See also: init(vpAfma6::vpToolType, vpCameraParameters::vpCameraParametersProjType), init(vpAfma6::vpToolType, const vpHomogeneousMatrix&)

Definition at line 215 of file vpAfma6.cpp.

References parseConfigFile(), and setToolType().

◆ init() [5/6]

void vpAfma6::init	(	vpAfma6::vpAfma6ToolType	tool,
		const vpHomogeneousMatrix &	eMc
	)

Set the type of tool attached to the robot and the transformation between the end-effector and the tool ( $^e{\bf M}c$ ).

Parameters

tool	: Type of tool in use.
eMc	: Homogeneous matrix representation of the transformation between the end-effector frame and the tool frame.

See also: init(vpAfma6::vpAfma6ToolType, vpCameraParameters::vpCameraParametersProjType), init(vpAfma6::vpAfma6ToolType, const std::string&)

Definition at line 250 of file vpAfma6.cpp.

References set_eMc(), and setToolType().

◆ init() [6/6]

void vpAfma6::init	(	vpAfma6::vpAfma6ToolType	tool,
		vpCameraParameters::vpCameraParametersProjType	proj_model = `vpCameraParameters::perspectiveProjWithoutDistortion`
	)

Get the constant parameters related to the robot kinematics and to the end-effector to camera transformation (eMc) corresponding to the camera extrinsic parameters. These last parameters depend on the camera and projection model in use.

Warning: If the macro VISP_HAVE_AFMA6_DATA is defined in vpConfig.h this function reads the camera extrinsic parameters from the file corresponding to the specified camera type and projection type. Otherwise corresponding default parameters are loaded.

Parameters

tool	: Camera in use.
proj_model	: Projection model of the camera.

Definition at line 273 of file vpAfma6.cpp.

◆ parseConfigFile()

void vpAfma6::parseConfigFile ( const std::string & filename )

This function gets the robot constant parameters from a file.

Parameters

filename : File name containing the robot constant parameters, like max/min joint values, distance between 5 and 6 axis, coupling factor between axis 5 and 6, and the hand-to-eye homogeneous matrix.

Definition at line 1093 of file vpAfma6.cpp.

References _coupl_56, _eMc, _erc, _etc, _joint_max, _joint_min, _long_56, vpHomogeneousMatrix::buildFrom(), and vpRobotException::readingParametersError.

Referenced by init().

◆ set_eMc()

void vpAfma6::set_eMc ( const vpHomogeneousMatrix & eMc )

virtual

Set the geometric transformation between the end-effector frame and the tool frame (commonly a camera).

Parameters

eMc	: Transformation between the end-effector frame and the tool frame.

Reimplemented in vpRobotAfma6.

Definition at line 1187 of file vpAfma6.cpp.

References _eMc, _erc, _etc, vpRxyzVector::buildFrom(), and vpHomogeneousMatrix::getTranslationVector().

Referenced by init(), and vpRobotAfma6::set_eMc().

◆ setToolType()

void vpAfma6::setToolType ( vpAfma6::vpAfma6ToolType tool )

inlineprotected

Set the current tool type.

Definition at line 194 of file vpAfma6.h.

Referenced by init(), vpSimulatorAfma6::init(), and vpRobotAfma6::init().

Friends And Related Function Documentation

◆ operator<<

VISP_EXPORT std::ostream& operator<<	(	std::ostream &	os,
		const vpAfma6 &	afma6
	)

friend

Print on the output stream os the robot parameters (joint min/max, distance between axis 5 and 6, coupling factor between axis 5 and 6, hand-to-eye homogeneous matrix.

Parameters

os	: Output stream.
afma6	: Robot parameters.

Definition at line 1549 of file vpAfma6.cpp.

Member Data Documentation

◆ _coupl_56

double vpAfma6::_coupl_56

protected

Definition at line 201 of file vpAfma6.h.

Referenced by get_eJe(), get_fJe(), get_fMe(), getCoupl56(), getInverseKinematics(), vpRobotAfma6::init(), parseConfigFile(), and vpAfma6().

◆ _eMc

vpHomogeneousMatrix vpAfma6::_eMc

protected

Definition at line 209 of file vpAfma6.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), get_cMe(), get_eMc(), get_fMc(), getInverseKinematics(), vpSimulatorAfma6::getVelocity(), init(), vpSimulatorAfma6::init(), parseConfigFile(), set_eMc(), and vpAfma6().

◆ _erc

vpRxyzVector vpAfma6::_erc

protected

Definition at line 207 of file vpAfma6.h.

Referenced by init(), vpSimulatorAfma6::init(), vpRobotAfma6::init(), parseConfigFile(), set_eMc(), and vpRobotAfma6::set_eMc().

◆ _etc

vpTranslationVector vpAfma6::_etc

protected

Definition at line 206 of file vpAfma6.h.

Referenced by init(), vpSimulatorAfma6::init(), vpRobotAfma6::init(), parseConfigFile(), set_eMc(), and vpRobotAfma6::set_eMc().

◆ _joint_max

double vpAfma6::_joint_max[6]

protected

Definition at line 203 of file vpAfma6.h.

Referenced by getInverseKinematics(), getJointMax(), vpSimulatorAfma6::init(), vpRobotAfma6::init(), vpSimulatorAfma6::isInJointLimit(), parseConfigFile(), vpSimulatorAfma6::setJointLimit(), vpSimulatorAfma6::updateArticularPosition(), and vpAfma6().

◆ _joint_min

double vpAfma6::_joint_min[6]

protected

Definition at line 204 of file vpAfma6.h.

Referenced by getInverseKinematics(), getJointMin(), vpSimulatorAfma6::init(), vpRobotAfma6::init(), vpSimulatorAfma6::isInJointLimit(), parseConfigFile(), vpSimulatorAfma6::setJointLimit(), vpSimulatorAfma6::updateArticularPosition(), and vpAfma6().

◆ _long_56

double vpAfma6::_long_56

protected

Definition at line 202 of file vpAfma6.h.

Referenced by vpSimulatorAfma6::compute_fMi(), get_eJe(), get_fJe(), get_fMe(), getInverseKinematics(), getLong56(), vpRobotAfma6::init(), parseConfigFile(), and vpAfma6().

◆ CONST_AFMA6_FILENAME

const std::string vpAfma6::CONST_AFMA6_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_Afma6.cnf")

File where constant parameters in relation with the robot are stored: joint max, min, coupling factor between 4 ant 5 joint, distance between 5 and 6 joint, tranformation eMc between end-effector and camera frame.

Definition at line 85 of file vpAfma6.h.

Referenced by init().

◆ CONST_CAMERA_AFMA6_FILENAME

const std::string vpAfma6::CONST_CAMERA_AFMA6_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_camera_Afma6.xml")

Definition at line 96 of file vpAfma6.h.

Referenced by getCameraParameters().

◆ CONST_CCMOP_CAMERA_NAME

const char *const vpAfma6::CONST_CCMOP_CAMERA_NAME = "Dragonfly2-8mm-ccmop"

static

Name of the camera attached to the CCMOP tool (vpAfma6ToolType::TOOL_CCMOP).

Definition at line 102 of file vpAfma6.h.

Referenced by getCameraParameters(), and vpSimulatorAfma6::getCameraParameters().

◆ CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_ccmop_with_distortion_Afma6.cnf")

Definition at line 87 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_ccmop_without_distortion_Afma6.cnf")

Definition at line 86 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_generic_with_distortion_Afma6.cnf")

Definition at line 95 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_generic_without_distortion_Afma6.cnf")

Definition at line 94 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_gripper_with_distortion_Afma6.cnf")

Definition at line 89 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_gripper_without_distortion_Afma6.cnf")

Definition at line 88 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_INTEL_D435_WITH_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_INTEL_D435_WITH_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_Intel_D435_with_distortion_Afma6.cnf")

Definition at line 93 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_INTEL_D435_WITHOUT_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_INTEL_D435_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_Intel_D435_without_distortion_Afma6.cnf")

Definition at line 92 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_vacuum_with_distortion_Afma6.cnf")

Definition at line 91 of file vpAfma6.h.

Referenced by init().

◆ CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME

const std::string vpAfma6::CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME

static

Initial value:

=

std::string(VISP_AFMA6_DATA_PATH) + std::string("/include/const_eMc_vacuum_without_distortion_Afma6.cnf")

Definition at line 90 of file vpAfma6.h.

Referenced by init().

◆ CONST_GENERIC_CAMERA_NAME

const char *const vpAfma6::CONST_GENERIC_CAMERA_NAME = "Generic-camera"

static

Name of the generic camera attached to the robot hand (vpAfma6ToolType::TOOL_GENERIC_CAMERA).

Definition at line 117 of file vpAfma6.h.

Referenced by getCameraParameters().

◆ CONST_GRIPPER_CAMERA_NAME

const char *const vpAfma6::CONST_GRIPPER_CAMERA_NAME = "Dragonfly2-6mm-gripper"

static

Name of the camera attached to the 2 fingers gripper tool (vpAfma6ToolType::TOOL_GRIPPER).

Definition at line 107 of file vpAfma6.h.

Referenced by getCameraParameters(), and vpSimulatorAfma6::getCameraParameters().

◆ CONST_INTEL_D435_CAMERA_NAME

const char *const vpAfma6::CONST_INTEL_D435_CAMERA_NAME = "Intel-D435"

static

Name of the Intel D435 camera attached to the robot hand (vpAfma6ToolType::TOOL_INTEL_D435_CAMERA).

Definition at line 123 of file vpAfma6.h.

Referenced by getCameraParameters().

◆ CONST_VACUUM_CAMERA_NAME

const char *const vpAfma6::CONST_VACUUM_CAMERA_NAME = "Dragonfly2-6mm-vacuum"

static

Name of the camera attached to the vacuum gripper tool (vpAfma6ToolType::TOOL_VACUUM).

Definition at line 112 of file vpAfma6.h.

Referenced by getCameraParameters().

◆ defaultTool

const vpAfma6::vpAfma6ToolType vpAfma6::defaultTool = TOOL_CCMOP

static

Default tool attached to the robot end effector.

Definition at line 136 of file vpAfma6.h.

Referenced by init(), and vpRobotAfma6::init().

◆ njoint

const unsigned int vpAfma6::njoint = 6

static

Number of joint.

Definition at line 194 of file vpAfma6.h.

Referenced by vpRobotAfma6::checkJointLimits(), vpRobotAfma6::get_eJe(), vpRobotAfma6::get_fJe(), vpRobotAfma6::getDisplacement(), getInverseKinematics(), vpRobotAfma6::getPosition(), vpRobotAfma6::getVelocity(), vpSimulatorAfma6::init(), vpSimulatorAfma6::readPosFile(), vpRobotAfma6::readPosFile(), vpRobotAfma6::setPosition(), and vpRobotAfma6::setVelocity().

◆ projModel

vpCameraParameters::vpCameraParametersProjType vpAfma6::projModel

protected

Definition at line 215 of file vpAfma6.h.

Referenced by getCameraParameters(), init(), and vpSimulatorAfma6::init().

◆ tool_current

vpAfma6ToolType vpAfma6::tool_current

protected

Current tool in use.

Definition at line 213 of file vpAfma6.h.

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ vpAfma6ToolType

Constructor & Destructor Documentation

◆ vpAfma6()

◆ ~vpAfma6()

Member Function Documentation

◆ get_cMe()

◆ get_cVe()

◆ get_eJe()

◆ get_eMc()

◆ get_fJe()

◆ get_fMc() [1/2]

◆ get_fMc() [2/2]

◆ get_fMe()

◆ getCameraParameters() [1/3]

◆ getCameraParameters() [2/3]

◆ getCameraParameters() [3/3]

◆ getCameraParametersProjType()

◆ getCoupl56()

◆ getForwardKinematics()

◆ getInverseKinematics()

◆ getJointMax()

◆ getJointMin()

◆ getLong56()

◆ getToolType()

◆ init() [1/6]

◆ init() [2/6]

◆ init() [3/6]

◆ init() [4/6]

◆ init() [5/6]

◆ init() [6/6]

◆ parseConfigFile()

◆ set_eMc()

◆ setToolType()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ _coupl_56

◆ _eMc

◆ _erc

◆ _etc

◆ _joint_max

◆ _joint_min

◆ _long_56

◆ CONST_AFMA6_FILENAME

◆ CONST_CAMERA_AFMA6_FILENAME

◆ CONST_CCMOP_CAMERA_NAME

◆ CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME

◆ CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME

◆ CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME

◆ CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME

◆ CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME

◆ CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME

◆ CONST_EMC_INTEL_D435_WITH_DISTORTION_FILENAME

◆ CONST_EMC_INTEL_D435_WITHOUT_DISTORTION_FILENAME

◆ CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME

◆ CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME

◆ CONST_GENERIC_CAMERA_NAME

◆ CONST_GRIPPER_CAMERA_NAME

◆ CONST_INTEL_D435_CAMERA_NAME

◆ CONST_VACUUM_CAMERA_NAME

◆ defaultTool

◆ njoint

◆ projModel

◆ tool_current