vpRobotCamera Class Reference

#include <visp3/robot/vpRobotCamera.h>

Inheritance diagram for vpRobotCamera:

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 ()
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
int	getNDof () 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) vp_override
void	getPosition (vpHomogeneousMatrix &cMw) const
void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override
void	setPosition (const vpHomogeneousMatrix &cMw)
void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &v) vp_override

Detailed Description

Class that defines the simplest robot: a free flying camera. We recommend to use vpSimulatorCamera instead.

Deprecated:

This class is deprecated since ViSP 3.0.0.

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.

#include <visp3/robot/vpRobotCamera.h>
 
int main()
{
  vpHomogeneousMatrix cMw;
  vpRobotCamera robot;
 
  robot.getPosition(cMw); // Position of the world frame in the camera frame
  std::cout << "Default position of the world frame in the camera frame cMw:\n" << cMw << std::endl;
 
  cMw[2][3] = 1.; // World frame is 1 meter along z axis in front of the camera frame
  robot.setPosition(cMw); // Set the new position of the world frame in the camera frame
  std::cout << "New position of the world frame in the camera frame cMw:\n" << cMw << std::endl;
 
  robot.setSamplingTime(0.100); // Modify the default sampling time to 0.1 second
  robot.setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
  robot.setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
 
  vpColVector v(6);
  v = 0;
  v[2] = 1.; // set v_z to 1 m/s
  robot.setVelocity(vpRobot::CAMERA_FRAME, v);
  // The robot has moved from 0.1 meters along the z axis
  robot.getPosition(cMw); // Position of the world frame in the camera frame
  std::cout << "New position of the camera cMw:\n" << cMw << std::endl;
}

Definition at line 107 of file vpRobotCamera.h.

Member Enumeration Documentation

vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

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 74 of file vpRobot.h.

vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

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 62 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobotCamera()

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()).

vpRobotCamera robot;
 
robot.setSamplingTime(0.020); // Set the sampling time to 20 ms.

Definition at line 69 of file vpRobotCamera.cpp.

Member Function Documentation

get_cVe()

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.

Parameters

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 102 of file vpRobotCamera.cpp.

get_eJe()

void vpRobotCamera::get_eJe ( vpMatrix &  eJe_ )

virtual

Get the robot jacobian expressed in the end-effector frame. For that simple robot the Jacobian is the identity.

Parameters

eJe_	: A 6 by 6 matrix representing the robot jacobian expressed in the end-effector frame.

Implements vpRobot.

Definition at line 115 of file vpRobotCamera.cpp.

References vpRobot::eJe.

getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void  ) const

inherited

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 270 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpRobotPololuPtu::setPosition(), vpRobotPololuPtu::setVelocity(), 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().

getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void  ) const

inherited

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 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().

getNDof()

int vpRobot::getNDof ( ) const

inlineinherited

Return robot degrees of freedom number.

Examples

servoPololuPtuPoint2DJointVelocity.cpp.

Definition at line 143 of file vpRobot.h.

getPosition() [1/3]

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

inherited

Return the current robot position in the specified frame.

Definition at line 213 of file vpRobot.cpp.

References vpRobot::getPosition().

getPosition() [2/3]

void vpRobotCamera::getPosition ( const vpRobot::vpControlFrameType  frame, vpColVector &  position  )

virtual

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

Implements vpRobot.

Definition at line 203 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().

getPosition() [3/3]

void vpRobotCamera::getPosition

(

vpHomogeneousMatrix &

cMw

)

const

Get the robot position as the transformation from camera frame to world frame.

Definition at line 180 of file vpRobotCamera.cpp.

References cMw_.

getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void  ) const

inlineprotectedinherited

Definition at line 181 of file vpRobot.h.

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

getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void  ) const

inlinevirtualinherited

Definition at line 153 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(), vpRobotPololuPtu::setPosition(), vpRobotPtu46::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpRobotBiclops::setRobotState(), vpRobotPololuPtu::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotBiclops::setVelocity(), vpRobotPololuPtu::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().

getSamplingTime()

double vpRobotSimulator::getSamplingTime ( ) const

inlineinherited

Return the sampling time.

Returns

Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time.

Definition at line 72 of file vpRobotSimulator.h.

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

saturateVelocities()

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

staticinherited

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;
}

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().

setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double  w_max )

inherited

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

Parameters

w_max

: Maximum rotational velocity expressed in rad/s.

Examples

servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, testFeatureSegment.cpp, testFrankaJointVelocityLimits.cpp, and testRobotFlirPtu.cpp.

Definition at line 257 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpRobotViper650::setMaxRotationVelocity(), vpRobotViper850::setMaxRotationVelocity(), and vpSimulatorAfma6::setPosition().

setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double  v_max )

inherited

Set the maximal translation velocity that can be sent to the robot during a velocity control.

Parameters

v_max

: Maximum translation velocity expressed in m/s.

Examples

servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 236 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition().

setPosition()

void vpRobotCamera::setPosition

(

const vpHomogeneousMatrix &

cMw

)

Set the robot position as the transformation from camera frame to world frame.

Definition at line 241 of file vpRobotCamera.cpp.

References cMw_, vpRobot::getRobotState(), vpRobot::setRobotState(), and vpRobot::STATE_POSITION_CONTROL.

setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType  newFrame )

protectedinherited

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().

setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType  newState )

virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotUniversalRobots, vpRobotPtu46, vpRobotFranka, vpRobotFlirPtu, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotPololuPtu, and vpRobotBiclops.

Examples

UniversalRobotsMoveToPosition.cpp, UniversalRobotsSavePosition.cpp, frankaMoveToPosition.cpp, frankaSavePosition.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoKinovaJacoCart.cpp, servoKinovaJacoJoint.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointPosition.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testRobotFlirPtu.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testUniversalRobotsCartPosition.cpp, testUniversalRobotsCartVelocity.cpp, testUniversalRobotsJointPosition.cpp, testUniversalRobotsJointVelocity.cpp, testVirtuoseAfma6.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 198 of file vpRobot.cpp.

Referenced by setPosition(), vpSimulatorCamera::setPosition(), vpRobotBiclops::setRobotState(), vpRobotPololuPtu::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().

setSamplingTime()

virtual void vpRobotSimulator::setSamplingTime ( const double &  delta_t )

inlinevirtualinherited

Set the sampling time.

Parameters

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 80 of file vpRobotSimulator.h.

setVelocity()

void vpRobotCamera::setVelocity ( const vpRobot::vpControlFrameType  frame, const vpColVector &  v  )

virtual

Send to the controller a velocity.

Parameters

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.

• In the camera frame, this velocity is represented by a twist vector of dimension 6 where are the translation velocities in m/s and the rotation velocities in rad/s applied in the camera frame.
• In articular, the behavior is the same as in camera frame.

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().

See also

setSamplingTime()

Implements vpRobot.

Definition at line 139 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.

setVerbose()

void vpRobot::setVerbose ( bool  verbose )

inlineinherited

Examples

servoKinovaJacoCart.cpp, servoKinovaJacoJoint.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 168 of file vpRobot.h.

Referenced by vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

Member Data Documentation

areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by vpRobot::operator=().

cMw_

vpHomogeneousMatrix vpRobotCamera::cMw_

protected

Definition at line 110 of file vpRobotCamera.h.

Referenced by getPosition(), setPosition(), and setVelocity().

delta_t_

double vpRobotSimulator::delta_t_

protectedinherited

Definition at line 59 of file vpRobotSimulator.h.

Referenced by setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 104 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_eJe(), vpRobotAfma6::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotAfma4::get_eJe(), vpRobotBiclops::get_eJe(), get_eJe(), vpRobotKinova::get_eJe(), vpRobotPololuPtu::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpSimulatorCamera::get_eJe(), vpRobot::operator=(), and vpRobotAfma4::setVelocity().

eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 106 of file vpRobot.h.

Referenced by vpRobot::operator=().

fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 108 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_fJe(), vpRobotAfma6::get_fJe(), vpRobotPtu46::get_fJe(), vpRobotAfma4::get_fJe(), vpRobotBiclops::get_fJe(), vpRobotKinova::get_fJe(), vpRobotPololuPtu::get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), and vpRobot::operator=().

fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 110 of file vpRobot.h.

Referenced by vpRobot::operator=().

maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 98 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().

maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 99 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().

maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 96 of file vpRobot.h.

Referenced by vpRobot::getMaxTranslationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().

maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 97 of file vpRobot.h.

Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().

nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 102 of file vpRobot.h.

Referenced by vpRobotPololuPtu::get_eJe(), vpRobotPololuPtu::get_fJe(), vpRobotKinova::getJointPosition(), vpRobotPololuPtu::getPosition(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotUniversalRobots::init(), vpRobotTemplate::init(), vpRobot::operator=(), vpRobotUniversalRobots::readPosFile(), vpRobotKinova::setDoF(), vpRobotKinova::setJointVelocity(), vpRobotKinova::setPosition(), vpRobotPololuPtu::setPosition(), vpRobotPololuPtu::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotKinova::setVelocity(), vpRobotTemplate::setVelocity(), and vpRobotPololuPtu::vpRobotPololuPtu().

qmax

double* vpRobot::qmax

protectedinherited

Definition at line 114 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

qmin

double* vpRobot::qmin

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().

verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 116 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().