Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#include <visp3/robot/vpRobotCamera.h>
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 | |
vpRobotCamera () | |
virtual | ~vpRobotCamera () |
Inherited functionalities from vpRobotSimulator | |
double | getSamplingTime () const |
virtual void | setSamplingTime (const double &delta_t) |
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 | |
Protected Member Functions Inherited from vpRobot | |
vpControlFrameType | setRobotFrame (vpRobot::vpControlFrameType newFrame) |
vpControlFrameType | getRobotFrame (void) const |
Protected Attributes | |
vpHomogeneousMatrix | cMw_ |
double | delta_t_ |
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 |
Inherited functionalities from vpRobotCamera | |
void | get_cVe (vpVelocityTwistMatrix &cVe) const |
void | get_eJe (vpMatrix &eJe) |
void | getPosition (vpHomogeneousMatrix &cMw) const |
void | getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q) |
void | setPosition (const vpHomogeneousMatrix &cMw) |
void | setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &v) |
Class that defines the simplest robot: a free flying camera. We recommend to use vpSimulatorCamera instead.
This free flying camera has 6 dof; 3 in translation and 3 in rotation. It evolves as a gantry robot with respect to a world frame. This class is similar to vpSimulatorCamera class except that here the position of the robot is provided as the transformation from camera frame to world frame; cMw. Since the position of the camera frame evolves, this representation is less intuitive than the one implemented in vpSimulatorCamera where the transformation from world to camera frame is considered; wMc.
For this particular simulated robot, the end-effector and camera frame are confused. That means that the cMe transformation is equal to identity.
The robot jacobian expressed in the end-effector frame is also set to identity (see get_eJe()).
The following code shows how to control this robot in position and velocity.
Definition at line 107 of file vpRobotCamera.h.
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inherited |
Robot control frames.
Enumerator | |
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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. |
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inherited |
Robot control states.
vpRobotCamera::vpRobotCamera | ( | ) |
Constructor.
Initialise the robot by a call to init().
Sampling time is set to 40 ms. To change it you should call setSamplingTime().
Robot jacobian expressed in the end-effector frame is set to identity (see get_eJe()).
Definition at line 69 of file vpRobotCamera.cpp.
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virtual |
Destructor.
Definition at line 96 of file vpRobotCamera.cpp.
void vpRobotCamera::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.
cVe | : Twist transformation. Here this transformation is equal to identity since camera frame and end-effector frame are at the same location. |
Definition at line 108 of file vpRobotCamera.cpp.
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Get the robot jacobian expressed in the end-effector frame. For that simple robot the Jacobian is the identity.
eJe_ | : A 6 by 6 matrix representing the robot jacobian expressed in the end-effector frame. |
Implements vpRobot.
Definition at line 121 of file vpRobotCamera.cpp.
References vpRobot::eJe.
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Get the maximal rotation velocity that can be sent to the robot during a velocity control.
Definition at line 270 of file vpRobot.cpp.
References vpRobot::maxRotationVelocity.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().
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Get the maximal translation velocity that can be sent to the robot during a velocity control.
Definition at line 248 of file vpRobot.cpp.
References vpRobot::maxTranslationVelocity.
Referenced by vpSimulatorAfma6::setPosition(), setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().
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Return the current robot position in the specified frame.
Definition at line 213 of file vpRobot.cpp.
References vpRobot::getPosition().
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Get the robot position (frame has to be specified).
Implements vpRobot.
Definition at line 209 of file vpRobotCamera.cpp.
References vpRobot::ARTICULAR_FRAME, vpRxyzVector::buildFrom(), vpRobot::CAMERA_FRAME, cMw_, vpRobot::END_EFFECTOR_FRAME, vpHomogeneousMatrix::extract(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, and vpColVector::resize().
void vpRobotCamera::getPosition | ( | vpHomogeneousMatrix & | cMw | ) | const |
Get the robot position as the transformation from camera frame to world frame.
Definition at line 186 of file vpRobotCamera.cpp.
References cMw_.
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inlineprotectedinherited |
Definition at line 170 of file vpRobot.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), and vpSimulatorViper850::computeArticularVelocity().
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inlinevirtualinherited |
Definition at line 142 of file vpRobot.h.
Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), setPosition(), vpSimulatorCamera::setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotFranka::setPosition(), vpRobotUniversalRobots::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotBiclops::setPosition(), vpRobotPtu46::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotBiclops::setVelocity(), vpRobotPtu46::setVelocity(), setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotFlirPtu::stopMotion(), vpRobotFranka::stopMotion(), vpRobotViper650::stopMotion(), vpRobotViper850::stopMotion(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().
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inlineinherited |
Return the sampling time.
Definition at line 79 of file vpRobotSimulator.h.
Referenced by vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().
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staticinherited |
Saturate velocities.
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. |
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.
Definition at line 160 of file vpRobot.cpp.
References vpException::dimensionError, and vpArray2D< Type >::size().
Referenced by setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
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Set the maximal rotation velocity that can be sent to the robot during a velocity control.
w_max | : Maximum rotational velocity expressed in rad/s. |
Definition at line 257 of file vpRobot.cpp.
References vpRobot::maxRotationVelocity.
Referenced by vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().
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Set the maximal translation velocity that can be sent to the robot during a velocity control.
v_max | : Maximum translation velocity expressed in m/s. |
Definition at line 236 of file vpRobot.cpp.
References vpRobot::maxTranslationVelocity.
Referenced by vpSimulatorAfma6::setPosition().
void vpRobotCamera::setPosition | ( | const vpHomogeneousMatrix & | cMw | ) |
Set the robot position as the transformation from camera frame to world frame.
Definition at line 247 of file vpRobotCamera.cpp.
References cMw_, vpRobot::getRobotState(), vpRobot::setRobotState(), and vpRobot::STATE_POSITION_CONTROL.
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Definition at line 204 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().
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virtualinherited |
Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotUniversalRobots, vpRobotPtu46, vpRobotFranka, vpRobotFlirPtu, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, and vpRobotBiclops.
Definition at line 198 of file vpRobot.cpp.
Referenced by setPosition(), vpSimulatorCamera::setPosition(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().
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Set the sampling time.
delta_t | : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time. |
Reimplemented in vpRobotWireFrameSimulator.
Definition at line 88 of file vpRobotSimulator.h.
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Send to the controller a velocity.
frame | : Control frame type. Only articular (vpRobot::ARTICULAR_FRAME) and camera frame (vpRobot::CAMERA_FRAME) are implemented. |
v | : Velocity twist to apply to the robot. |
Internally, the exponential map (vpExponentialMap) is used to update the camera position from its velocity after applying the velocity during a sampling time. This sampling time can be set using setSamplingTime().
Implements vpRobot.
Definition at line 145 of file vpRobotCamera.cpp.
References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, cMw_, vpRobotSimulator::delta_t_, vpExponentialMap::direct(), vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpHomogeneousMatrix::inverse(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpRobot::setRobotState(), vpRobot::STATE_VELOCITY_CONTROL, and vpRobotException::wrongStateError.
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Definition at line 157 of file vpRobot.h.
Referenced by vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().
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Definition at line 110 of file vpRobot.h.
Referenced by vpRobot::operator=().
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Definition at line 110 of file vpRobotCamera.h.
Referenced by getPosition(), setPosition(), and setVelocity().
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Definition at line 62 of file vpRobotSimulator.h.
Referenced by setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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robot Jacobian expressed in the end-effector frame
Definition at line 102 of file vpRobot.h.
Referenced by vpRobotFlirPtu::get_eJe(), vpRobotAfma6::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotAfma4::get_eJe(), get_eJe(), vpRobotKinova::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpSimulatorCamera::get_eJe(), vpRobot::operator=(), and vpRobotAfma4::setVelocity().
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is the robot Jacobian expressed in the end-effector frame available
Definition at line 104 of file vpRobot.h.
Referenced by vpRobot::operator=().
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robot Jacobian expressed in the robot reference frame available
Definition at line 106 of file vpRobot.h.
Referenced by vpRobotFlirPtu::get_fJe(), vpRobotAfma6::get_fJe(), vpRobotPtu46::get_fJe(), vpRobotAfma4::get_fJe(), vpRobotKinova::get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), and vpRobot::operator=().
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is the robot Jacobian expressed in the robot reference frame available
Definition at line 108 of file vpRobot.h.
Referenced by vpRobot::operator=().
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Definition at line 96 of file vpRobot.h.
Referenced by vpRobot::getMaxRotationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot::operator=(), vpRobot::setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().
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Definition at line 97 of file vpRobot.h.
Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().
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Definition at line 94 of file vpRobot.h.
Referenced by vpRobot::getMaxTranslationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().
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Definition at line 95 of file vpRobot.h.
Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().
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number of degrees of freedom
Definition at line 100 of file vpRobot.h.
Referenced by vpRobotKinova::getJointPosition(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobotUniversalRobots::init(), vpRobot::operator=(), vpRobotUniversalRobots::readPosFile(), vpRobotKinova::setDoF(), vpRobotKinova::setJointVelocity(), vpRobotKinova::setPosition(), vpRobotFlirPtu::setVelocity(), vpRobotKinova::setVelocity(), and vpRobotTemplate::setVelocity().
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Definition at line 112 of file vpRobot.h.
Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().
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Definition at line 111 of file vpRobot.h.
Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().
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Definition at line 114 of file vpRobot.h.
Referenced by vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpRobot::operator=(), vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().