#include <visp3/robot/vpRobot.h>

Inheritance diagram for vpRobot:

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
	vpRobot (void)

	vpRobot (const vpRobot &robot)

virtual	~vpRobot ()

Inherited functionalities from vpRobot
virtual void	get_eJe (vpMatrix &_eJe)=0

virtual void	get_fJe (vpMatrix &_fJe)=0

virtual void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)=0

double	getMaxTranslationVelocity (void) const

double	getMaxRotationVelocity (void) const

virtual void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)=0

vpColVector	getPosition (const vpRobot::vpControlFrameType frame)

virtual vpRobotStateType	getRobotState (void) const

virtual void	init ()=0

vpRobot &	operator= (const vpRobot &robot)

void	setMaxRotationVelocity (double maxVr)

void	setMaxTranslationVelocity (double maxVt)

virtual void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)=0

virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)

virtual void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0

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
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)

vpControlFrameType	getRobotFrame (void) const

Protected Attributes
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 generic virtual robot.

group_robot_real_arm group_robot_real_template

Definition at line 58 of file vpRobot.h.

Member Enumeration Documentation

◆ vpControlFrameType

enum vpRobot::vpControlFrameType

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.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType

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

◆ vpRobot() [1/2]

vpRobot::vpRobot ( void )

Definition at line 53 of file vpRobot.cpp.

◆ vpRobot() [2/2]

vpRobot::vpRobot ( const vpRobot & robot )

Definition at line 61 of file vpRobot.cpp.

◆ ~vpRobot()

vpRobot::~vpRobot ( )

virtual

Destructor that free allocated memory.

Definition at line 73 of file vpRobot.cpp.

References qmax, and qmin.

Member Function Documentation

◆ get_eJe()

virtual void vpRobot::get_eJe ( vpMatrix & _eJe )

pure virtual

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

Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotBiclops, vpRobotFlirPtu, vpRobotKinova, vpRobotPtu46, vpRobotPioneer, and vpRobotTemplate.

Referenced by vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpSimulatorViper850::getPositioningVelocity().

◆ get_fJe()

virtual void vpRobot::get_fJe ( vpMatrix & _fJe )

pure virtual

Get the robot Jacobian expressed in the robot reference (or world) frame.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotBiclops, vpRobotFlirPtu, vpRobotKinova, vpRobotPtu46, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), and vpSimulatorViper850::getPositioningVelocity().

◆ getDisplacement()

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

pure virtual

Get a displacement (frame as to ve specified) between two successive position control.

Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotFlirPtu, vpRobotKinova, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), vpRobotTemplate::get_eMc(), vpRobotFlirPtu::get_eMc(), vpRobotViper650::getControlMode(), and vpRobotKinova::getNumDevices().

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

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 maxRotationVelocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpRobotTemplate::setVelocity(), vpSimulatorCamera::setVelocity(), vpRobotCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpRobotPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotKinova::setVelocity(), vpRobotFlirPtu::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotFranka::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

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 maxTranslationVelocity.

◆ getPosition() [1/2]

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

pure virtual

Get the robot position (frame has to be specified).

Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpRobotFlirPtu, vpSimulatorCamera, vpRobotKinova, vpRobotBiclops, vpRobotPtu46, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), vpRobotTemplate::get_eMc(), vpRobotFlirPtu::get_eMc(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotFranka::getHandler(), vpRobotKinova::getNumDevices(), and getPosition().

◆ getPosition() [2/2]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType frame )

Return the current robot position in the specified frame.

Definition at line 216 of file vpRobot.cpp.

References getPosition().

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotected

Definition at line 172 of file vpRobot.h.

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

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtual

Definition at line 144 of file vpRobot.h.

◆ init()

virtual void vpRobot::init ( )

pure virtual

Implemented in vpRobotViper850, vpRobotViper650, vpRobotWireFrameSimulator, vpSimulatorViper850, vpRobotAfma6, vpSimulatorAfma6, vpRobotAfma4, vpRobotKinova, vpRobotFlirPtu, vpRobotPioneer, vpRobotPtu46, vpRobotBiclops, and vpRobotTemplate.

Referenced by vpRobotPioneer::get_eJe(), vpRobotViper650::getControlMode(), vpRobotViper850::getControlMode(), vpRobotTemplate::set_eMc(), vpRobotFlirPtu::set_eMc(), and vpRobotKinova::setVerbose().

◆ operator=()

vpRobot & vpRobot::operator= ( const vpRobot & robot )

Copy operator.

Definition at line 86 of file vpRobot.cpp.

References areJointLimitsAvailable, eJe, eJeAvailable, fJe, fJeAvailable, maxRotationVelocity, maxTranslationVelocity, nDof, qmax, qmin, and verbose_.

◆ saturateVelocities()

vpColVector vpRobot::saturateVelocities	(	const vpColVector &	v_in,
		const vpColVector &	v_max,
		bool	verbose = `false`
	)

static

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;
}