vpVirtuose.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: Class which enables to project an image in the 3D space
 * and get the view of a virtual camera.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef _vpVirtuose_h_
#define _vpVirtuose_h_

#include <ostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpPoseVector.h>

#ifdef VISP_HAVE_VIRTUOSE

#include <VirtuoseAPI.h>

class VISP_EXPORT vpVirtuose
{
public:
  vpVirtuose();
  virtual ~vpVirtuose();

  void addForce(vpColVector &force);
  void close();
  void enableForceFeedback(int enable);

  vpColVector getArticularPosition() const;
  vpColVector getArticularVelocity() const;
  vpPoseVector getAvatarPosition() const;
  vpPoseVector getBaseFrame() const;
  VirtCommandType getCommandType() const;
  bool getDeadMan() const;
  bool getEmergencyStop() const;
  unsigned int getJointsNumber() const;
  vpColVector getForce() const;
  VirtContext getHandler();
  vpPoseVector getObservationFrame() const;
  vpPoseVector getPhysicalPosition() const;
  vpColVector getPhysicalVelocity() const;
  vpPoseVector getPosition() const;
  bool getPower() const;
  vpColVector getVelocity() const;

  void init();

  void setArticularForce(const vpColVector &articularForce);
  void setArticularPosition(const vpColVector &articularPosition);
  void setArticularVelocity(const vpColVector &articularVelocity);
  void setBaseFrame(const vpPoseVector &position);
  void setCommandType(const VirtCommandType &type);
  void setForce(const vpColVector &force);
  void setForceFactor(const float &forceFactor);
  void setIndexingMode(const VirtIndexingType &type);
  void setIpAddressAndPort(const std::string &ip, int port);

  void setObservationFrame(const vpPoseVector &position);
  void setPeriodicFunction(VirtPeriodicFunction CallBackVirt);
  void setPosition(vpPoseVector &position);
  void setPowerOff();
  void setPowerOn();
  void setSaturation(const float &forceLimit, const float &torqueLimit);
  void setTimeStep(const float &timeStep);
  void setVelocity(vpColVector &velocity);
  void setVelocityFactor(const float &velocityFactor);
  void setVerbose(bool mode) { m_verbose = mode; }

  void startPeriodicFunction();
  void stopPeriodicFunction();

#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS

  vp_deprecated inline void setIpAddress(const std::string &ip_port) { m_ip_port = ip_port; }
#endif

protected:
  VirtContext m_virtContext;
  std::string m_ip_port;
  bool m_verbose;
  int m_apiMajorVersion;
  int m_apiMinorVersion;
  int m_ctrlMajorVersion;
  int m_ctrlMinorVersion;
  VirtCommandType m_typeCommand;
  VirtIndexingType m_indexType;
  bool m_is_init;
  float m_period;
  unsigned int m_njoints;
};

#endif
#endif