#include <visp3/robot/vpRobotFranka.h>

Inheritance diagram for vpRobotFranka:

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
	vpRobotFranka ()

	vpRobotFranka (const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)

virtual	~vpRobotFranka ()

void	connect (const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)

vpHomogeneousMatrix	get_fMe (const vpColVector &q)

vpHomogeneousMatrix	get_fMc (const vpColVector &q)

vpHomogeneousMatrix	get_eMc () const

void	get_eJe (vpMatrix &eJe) VP_OVERRIDE

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

void	get_fJe (vpMatrix &fJe) VP_OVERRIDE

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

void	getCoriolis (vpColVector &coriolis)

void	getForceTorque (const vpRobot::vpControlFrameType frame, vpColVector &force)

void	getGravity (vpColVector &gravity)

franka::RobotState	getRobotInternalState ()

franka::Gripper *	getGripperHandler ()

franka::Robot *	getHandler ()

vpColVector	getJointMin () const

vpColVector	getJointMax () const

void	getMass (vpMatrix &mass)

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

void	getPosition (const vpRobot::vpControlFrameType frame, vpPoseVector &pose)

void	getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &d_position)

int	gripperClose ()

int	gripperGrasp (double grasping_width, double force=60.)

int	gripperGrasp (double grasping_width, double speed, double force)

void	gripperHoming ()

int	gripperMove (double width)

int	gripperOpen ()

void	gripperRelease ()

void	move (const std::string &filename, double velocity_percentage=10.)

bool	readPosFile (const std::string &filename, vpColVector &q)

bool	savePosFile (const std::string &filename, const vpColVector &q)

void	set_eMc (const vpHomogeneousMatrix &eMc)

void	setForceTorque (const vpRobot::vpControlFrameType frame, const vpColVector &ft, const double &filter_gain=0.1, const bool &activate_pi_controller=false)

void	setLogFolder (const std::string &folder)

void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &position) VP_OVERRIDE

void	setPositioningVelocity (double velocity)

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

void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE

void	stopMotion ()

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)

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

This class is a wrapper over the libfranka component part of the Franka Control Interface (FCI).

Before using vpRobotFranka follow the installation instructions to install libfranka. We suggest to build libfranka from source if you are not using ROS.

Moreover, you need also to setup a real-time kernel following these instructions.

Up to now, this class provides the following capabilities to:

move to a given joint position using setPosition() that is blocking and that returns only when the robot has reached the desired position.
vpRobotFranka robot("192.168.1.1");

vpColVector q_d(7);

q_d[3] = -M_PI_2;

q_d[5] = M_PI_2;

q_d[6] = M_PI_4;

std::cout << "Move to joint position: " << q_d.t() << std::endl;

robot.setPosition(vpRobot::JOINT_STATE, q_d);

vpColVector
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191

vpRobotFranka
Definition: vpRobotFranka.h:223

vpRobot::JOINT_STATE
@ JOINT_STATE
Definition: vpRobot.h:82
move applying a joint velocity using setVelocity(). This function is non-blocking.
vpRobotFranka robot("192.168.1.1");

robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);

vpColVector dq_d(7, 0);

dq_d[4] = vpMath::rad(-20.);

dq_d[6] = vpMath::rad(20.);

while(1) {

robot.setVelocity(vpRobot::JOINT_STATE, dq_d);

...

}

vpMath::rad
static double rad(double deg)
Definition: vpMath.h:129

vpRobotPioneer::setVelocity
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE
Definition: vpRobotPioneer.cpp:100

vpRobot::STATE_VELOCITY_CONTROL
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:67

vpRobot::setRobotState
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:202
move applying a cartesian velocity to the end-effector using setVelocity(). This function is non-blocking.
vpRobotFranka robot("192.168.1.1");

vpColVector ve_d(6);

ve_d[2] = 0.02; // vz = 2 cm/s goes down

while(1) {

robot.setVelocity(vpRobot::END_EFFECTOR_FRAME, ve_d);

...

}

vpRobot::END_EFFECTOR_FRAME
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:83
move applying a cartesian velocity to the camera frame (or a given tool frame) using setVelocity(). The camera frame (or a tool frame) location wrt the end-effector is set using set_eMc(). This function is non-blocking.
vpRobotFranka robot("192.168.1.1");

vpHomogeneousMatrix eMc; // Position of the camera wrt the end-effector

// update eMc

robot.set_eMc(eMc);

vpColVector vc_d(6);

vc_d[2] = 0.02; // vz = 2 cm/s is along the camera optical axis

while(1) {

robot.setVelocity(vpRobot::CAMERA_FRAME, vc_d);

...

}

vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:221

vpRobot::CAMERA_FRAME
@ CAMERA_FRAME
Definition: vpRobot.h:84

If the tool attached to the end-effector is not a camera, you can do exactly the same using:
vpRobotFranka robot("192.168.1.1");

vpHomogeneousMatrix eMt;

// update eMt, the position of the tool wrt the end-effector frame

robot.set_eMc(eMt);

vpColVector vt_d(6);

vt_d[2] = 0.02; // vt = 2 cm/s is along tool z axis

while(1) {

robot.setVelocity(vpRobot::TOOL_FRAME, vt_d);

...

}

vpRobot::TOOL_FRAME
@ TOOL_FRAME
Definition: vpRobot.h:86
get the joint position using getPosition()
vpRobotFranka robot("192.168.1.1");

vpColVector q;

while(1) {

robot.getPosition(vpRobot::JOINT_STATE, q);

...

}
get the cartesian end-effector position using getPosition(). This function is non-blocking.
vpRobotFranka robot("192.168.1.1");

vpPoseVector wPe;

vpHomogeneousMatrix wMe;

while(1) {

robot.getPosition(vpRobot::END_EFFECTOR_FRAME, wPe);

wMe.buildFrom(wPe);

...

}

vpHomogeneousMatrix::buildFrom
vpHomogeneousMatrix & buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Definition: vpHomogeneousMatrix.cpp:344

vpPoseVector
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:203
get the cartesian camera (or tool) frame position using getPosition(). This function is non-blocking.
vpRobotFranka robot("192.168.1.1");

vpHomogeneousMatrix eMc;

// update eMc, the position of the camera wrt the end-effector frame

robot.set_eMc(eMc);

vpPoseVector wPc;

vpHomogeneousMatrix wMc;

while(1) {

robot.getPosition(vpRobot::CAMERA_FRAME, wPc);

wMc.buildFrom(wPc);

...

}

If the tool attached to the end-effector is not a camera, you can do exactly the same using:
vpRobotFranka robot("192.168.1.1");

vpHomogeneousMatrix eMt;

// update eMt, the position of the tool wrt the end-effector frame

robot.set_eMc(eMt);

vpPoseVector wPt;

vpHomogeneousMatrix wMt;

while(1) {

robot.getPosition(vpRobot::TOOL_FRAME, wPt);

wMt.buildFrom(wPt);

...

}

What is not implemented is:

move to a given cartesian end-effector position
gripper controller
force/torque feedback and control

Known issues:

sometimes the joint to joint trajectory generator provided by Franka complains about discontinuities.

We provide also the getHandler() function that allows to access to the robot handler and call the native libfranka API functionalities:

vpRobotFranka robot("192.168.1.1");
 
franka::Robot *handler = robot.getHandler();
 
// Get end-effector cartesian position
std::array<double, 16> pose = handler->readOnce().O_T_EE;

See also: Tutorial: PBVS with Panda 7-dof robot from Franka Emika; Tutorial: IBVS with Panda 7-dof robot from Franka Emika

Examples: frankaGripper.cpp, frankaMoveToPosition.cpp, frankaSavePosition.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaGetPose.cpp, testFrankaJointPosition.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, and testFrankaJointVelocityLimits.cpp.

Definition at line 222 of file vpRobotFranka.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 76 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 64 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpRobotFranka() [1/2]

BEGIN_VISP_NAMESPACE vpRobotFranka::vpRobotFranka ( )

Default constructor.

Definition at line 54 of file vpRobotFranka.cpp.

◆ vpRobotFranka() [2/2]

vpRobotFranka::vpRobotFranka	(	const std::string &	franka_address,
		franka::RealtimeConfig	realtime_config = `franka::RealtimeConfig::kEnforce`
	)

Establishes a connection with the robot.

Parameters

[in]	franka_address	IP/hostname of the robot.
[in]	realtime_config	If set to kEnforce, an exception will be thrown if realtime priority cannot be set when required. Setting realtime_config to kIgnore disables this behavior.

Definition at line 70 of file vpRobotFranka.cpp.

References connect().

◆ ~vpRobotFranka()

vpRobotFranka::~vpRobotFranka ( )

virtual

Destructor.

Definition at line 99 of file vpRobotFranka.cpp.

References setRobotState(), and vpRobot::STATE_STOP.

Member Function Documentation

◆ connect()

void vpRobotFranka::connect	(	const std::string &	franka_address,
		franka::RealtimeConfig	realtime_config = `franka::RealtimeConfig::kEnforce`
	)

Establishes a connection with the robot and set default behavior.

Parameters

[in]	franka_address	IP/hostname of the robot.
[in]	realtime_config	If set to kEnforce, an exception will be thrown if realtime priority cannot be set when required. Setting realtime_config to kIgnore disables this behavior.

Definition at line 123 of file vpRobotFranka.cpp.

References vpException::fatalError.

Referenced by vpRobotFranka().

◆ get_eJe() [1/2]

void vpRobotFranka::get_eJe	(	const vpColVector &	q,
		vpMatrix &	eJe_
	)

Gets the robot Jacobian in the end-effector frame relative to the end-effector frame represented as a 6x7 matrix in row-major format and computed from the robot current joint position.

Parameters

[in]	q	: 7-dim vector corresponding to the robot joint position [rad].
[out]	eJe_	: Body Jacobian expressed in the end-effector frame.

Definition at line 499 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), and vpArray2D< Type >::resize().

◆ get_eJe() [2/2]

void vpRobotFranka::get_eJe ( vpMatrix & eJe_ )

virtual

Gets the robot Jacobian in the end-effector frame relative to the end-effector frame represented as a 6x7 matrix in row-major format and computed from the robot current joint position.

Parameters

[out] eJe_ : Body Jacobian expressed in the end-effector frame.

Implements vpRobot.

Definition at line 476 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), and vpArray2D< Type >::resize().

◆ get_eMc()

vpHomogeneousMatrix vpRobotFranka::get_eMc ( ) const

Return the $^{e}{\bf M}_c$ homogeneous transformation that gives the position of the camera frame (or in general of any tool frame) in the robot end-effector frame.

By default, this transformation is set to identity, meaning that the camera (or tool) frame is located on the end-effector.

To change the position of the camera (or tool) frame on the end-effector frame, use set_eMc().

Definition at line 999 of file vpRobotFranka.cpp.

Referenced by getForceTorque().

◆ get_fJe() [1/2]

void vpRobotFranka::get_fJe	(	const vpColVector &	q,
		vpMatrix &	fJe_
	)

Gets the robot Jacobian in the end-effector frame relative to the base frame represented as a 6x7 matrix in row-major format and computed from the robot joint position given as input.

Parameters

[in]	q	: 7-dim vector corresponding to the robot joint position [rad].
[out]	fJe_	: Zero Jacobian expressed in the base frame.

Definition at line 550 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), vpArray2D< Type >::resize(), and vpArray2D< Type >::size().

◆ get_fJe() [2/2]

void vpRobotFranka::get_fJe ( vpMatrix & fJe_ )

virtual

Gets the robot Jacobian in the end-effector frame relative to the base frame represented as a 6x7 matrix in row-major format and computed from the robot current joint position.

Parameters

[out] fJe_ : Zero Jacobian expressed in the base frame.

Implements vpRobot.

Definition at line 527 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), and vpArray2D< Type >::resize().

◆ get_fMc()

vpHomogeneousMatrix vpRobotFranka::get_fMc ( const vpColVector & q )

Given the joint position of the robot, computes the forward kinematics (direct geometric model) as an homogeneous matrix ${^f}{\bf M}_c$ that gives the position of the camera frame (or in general of any tool attached to the robot) in the robot base frame.

By default, the transformation $^{e}{\bf M}_c$ that corresponds to the transformation between the end-effector and the camera (or tool) frame is set to identity, meaning that the camera (or tool) frame is located on the end-effector.

To change the position of the camera (or tool) frame, use set_eMc().

Parameters

[in] q : Joint position as a 7-dim vector.

Returns: Position of the camera frame (or tool frame) in the robot base frame.

Definition at line 422 of file vpRobotFranka.cpp.

References get_fMe().

Referenced by getPosition().

◆ get_fMe()

vpHomogeneousMatrix vpRobotFranka::get_fMe ( const vpColVector & q )

Given the joint position of the robot, computes the forward kinematics (direct geometric model) as an homogeneous matrix ${^f}{\bf M}_e$ that gives the position of the end-effector in the robot base frame.

Parameters

[in] q : Joint position as a 7-dim vector.

Returns: Position of the end-effector in the robot base frame.

Definition at line 381 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), and vpArray2D< Type >::size().

Referenced by get_fMc(), and getPosition().

◆ getCoriolis()

void vpRobotFranka::getCoriolis ( vpColVector & coriolis )

Get the Coriolis force vector (state-space equation) calculated from the current robot state: $c= C \times dq$ , in .

Parameters

[out] coriolis : Coriolis force vector.

Definition at line 310 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), and vpColVector::resize().

◆ getForceTorque()

void vpRobotFranka::getForceTorque	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	force
	)

Get robot force torque.

Parameters

[in]	frame	: Type of forces and torques to retrieve. Admissible values are: vpRobot::JOINT_STATE to get the 7-dim measured link-side joint torque sensor signals. Unit: . vpRobot::END_EFFECTOR_FRAME to retrieve the external wrench (force, torque) acting on stiffness frame, expressed relative to the stiffness frame. Unit: . vpRobot::CAMERA_FRAME or more generally a tool frame vpRobot::TOOL_FRAME to retrieve the external wrench (force, torque) applied on the tool frame. Unit: .
[out]	force	: Measured forced and torques.

Definition at line 227 of file vpRobotFranka.cpp.

References vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, get_eMc(), getRobotInternalState(), vpHomogeneousMatrix::inverse(), vpRobot::JOINT_STATE, vpColVector::resize(), and vpRobot::TOOL_FRAME.

◆ getGravity()

void vpRobotFranka::getGravity ( vpColVector & gravity )

Get the gravity vector calculated form the current robot state. Unit: .

Parameters

[out] gravity : Gravity vector

Definition at line 332 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), and vpColVector::resize().

◆ getGripperHandler()

franka::Gripper* vpRobotFranka::getGripperHandler ( )

inline

Get gripper handler to access native libfranka functions.

Returns: Robot handler if it exists, an exception otherwise.

Definition at line 299 of file vpRobotFranka.h.

References vpException::fatalError.

◆ getHandler()

franka::Robot* vpRobotFranka::getHandler ( )

inline

Get robot handler to access native libfranka functions.

Returns: Robot handler if it exists, an exception otherwise.

Definition at line 313 of file vpRobotFranka.h.

References vpException::fatalError.

◆ getJointMax()

vpColVector vpRobotFranka::getJointMax ( ) const

Gets maximum joint values.

Returns: A 7-dimension vector that contains the maximum joint values for the 7 dof. All the values are expressed in radians.

Definition at line 980 of file vpRobotFranka.cpp.

◆ getJointMin()

vpColVector vpRobotFranka::getJointMin ( ) const

Gets minimal joint values.

Returns: A 7-dimension vector that contains the minimal joint values for the 7 dof. All the values are expressed in radians.

Definition at line 967 of file vpRobotFranka.cpp.

◆ getMass()

void vpRobotFranka::getMass ( vpMatrix & mass )

Get the 7x7 mass matrix. Unit: $[kg \times m^2]$ .

Parameters

[out] mass : 7x7 mass matrix, row-major.

Definition at line 354 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), and vpArray2D< Type >::resize().

◆ 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 274 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpRobotPololuPtu::setPosition(), vpRobotPololuPtu::setVelocity(), vpRobotFlirPtu::setVelocity(), setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::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 252 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpRobotFlirPtu::setVelocity(), setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ getNDof()

int vpRobot::getNDof ( ) const

inlineinherited

Return robot degrees of freedom number.

Examples: servoPololuPtuPoint2DJointVelocity.cpp.

Definition at line 145 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 217 of file vpRobot.cpp.

References vpRobot::getPosition().

◆ getPosition() [2/3]

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

virtual

Get robot position.

Parameters

[in]	frame	: Type of position to retrieve. Admissible values are: vpRobot::JOINT_STATE to get the 7 joint positions. vpRobot::END_EFFECTOR_FRAME to retrieve the cartesian position of the end-effector frame wrt the robot base frame. vpRobot::CAMERA_FRAME to retrieve the cartesian position of the camera frame (or more generally a tool frame vpRobot::TOOL_FRAME) wrt the robot base frame.
[out]	position	: Robot position. When joint position is asked this vector is 7-dim. Otherwise for a cartesian position this vector is 6-dim. Its content is similar to a vpPoseVector, with first the 3 tranlations in meter and then the 3 orientations in radian as a $\theta {\bf u}$ vector (see vpThetaUVector).

If you want to get a cartesian position, use rather getPosition(const vpRobot::vpControlFrameType, vpPoseVector &)

Implements vpRobot.

Definition at line 176 of file vpRobotFranka.cpp.

References vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, get_fMc(), get_fMe(), getRobotInternalState(), vpRobot::JOINT_STATE, vpColVector::resize(), and vpRobot::TOOL_FRAME.

◆ getPosition() [3/3]

void vpRobotFranka::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpPoseVector &	pose
	)

Get robot cartesian position.

Parameters

[in]	frame	: Type of cartesian position to retrieve. Admissible values are: vpRobot::END_EFFECTOR_FRAME to retrieve the cartesian position of the end-effector frame wrt the robot base frame. vpRobot::CAMERA_FRAME to retrieve the cartesian position of the camera frame (or more generally a tool frame vpRobot::TOOL_FRAME) wrt the robot base frame.
[out]	pose	: Robot cartesian position. This vector is 6-dim with first the 3 tranlations in meter and then the 3 orientations in radian as a $\theta {\bf u}$ vector (see vpThetaUVector).

Definition at line 437 of file vpRobotFranka.cpp.

References vpPoseVector::buildFrom(), vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, getRobotInternalState(), vpRobot::JOINT_STATE, and vpRobot::TOOL_FRAME.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 183 of file vpRobot.h.

◆ getRobotInternalState()

franka::RobotState vpRobotFranka::getRobotInternalState ( )

Definition at line 941 of file vpRobotFranka.cpp.

References vpException::fatalError.

Referenced by get_eJe(), get_fJe(), get_fMe(), getCoriolis(), getForceTorque(), getGravity(), getMass(), getPosition(), getVelocity(), and setForceTorque().

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 155 of file vpRobot.h.

◆ getVelocity()

void vpRobotFranka::getVelocity	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	d_position
	)

Get robot velocity.

Parameters

[in]	frame	: Type of velocity to retrieve. Admissible values are: vpRobot::JOINT_STATE to get the 7 joint positions. vpRobot::END_EFFECTOR_FRAME to retrieve the cartesian velocity of the end-effector frame wrt the robot base frame. vpRobot::CAMERA_FRAME to retrieve the cartesian velocity of the camera frame (or more generally a tool frame vpRobot::TOOL_FRAME) wrt the robot base frame.
[out]	d_position	: Robot velocity. When joints velocity is asked this vector is 7-dim. Otherwise for a cartesian velocity this vector is 6-dim. Its content is similar to a vpPoseVector, with first the 3 tranlations in meter and then the 3 orientations in radian as a $\theta {\bf u}$ vector (see vpThetaUVector).

Warning: For the moment, cartesian velocities measurement in vpRobot::END_EFFECTOR_FRAME, vpRobot::CAMERA_FRAME, vpRobot::TOOL_FRAME are not implemented.

Definition at line 281 of file vpRobotFranka.cpp.

References vpException::fatalError, getRobotInternalState(), vpRobot::JOINT_STATE, and vpColVector::resize().

◆ gripperClose()

int vpRobotFranka::gripperClose ( )

Closes the gripper.

Returns: EXIT_SUCCESS if the success, EXIT_FAILURE otherwise.

See also: gripperHoming(), gripperGrasp(), gripperRelease(), gripperOpen()

Definition at line 1254 of file vpRobotFranka.cpp.

References gripperMove().

◆ gripperGrasp() [1/2]

int vpRobotFranka::gripperGrasp	(	double	grasping_width,
		double	force = `60.`
	)

Grasp an object that has a given width.

An object is considered grasped if the distance d between the gripper fingers satisfies grasping_width - 0.005 < d < grasping_width + 0.005.

Parameters

[in]	grasping_width	: Size of the object to grasp. [m]
[in]	force	: Grasping force. [N]

Returns: EXIT_SUCCESS if grasping succeed, EXIT_FAILURE otherwise.

See also: gripperHoming(), gripperOpen(), gripperRelease()

Definition at line 1310 of file vpRobotFranka.cpp.

◆ gripperGrasp() [2/2]

int vpRobotFranka::gripperGrasp	(	double	grasping_width,
		double	speed,
		double	force
	)

Grasp an object that has a given width.

An object is considered grasped if the distance d between the gripper fingers satisfies grasping_width - 0.005 < d < grasping_width + 0.005.

Parameters

[in]	grasping_width	: Size of the object to grasp. [m]
[in]	speed	: Closing speed. [m/s]
[in]	force	: Grasping force. [N]

Returns: EXIT_SUCCESS if grasping succeed, EXIT_FAILURE otherwise.

See also: gripperHoming(), gripperOpen(), gripperRelease()

Definition at line 1330 of file vpRobotFranka.cpp.

◆ gripperHoming()

void vpRobotFranka::gripperHoming ( )

Performing a gripper homing.

See also: gripperGrasp(), gripperMove(), gripperRelease()

Definition at line 1205 of file vpRobotFranka.cpp.

References vpException::fatalError.

◆ gripperMove()

int vpRobotFranka::gripperMove ( double width )

Moves the gripper fingers to a specified width.

Parameters

[in] width : Intended opening width. [m]

Returns: EXIT_SUCCESS if the success, EXIT_FAILURE otherwise.

See also: gripperHoming(), gripperGrasp(), gripperRelease()

Definition at line 1225 of file vpRobotFranka.cpp.

References vpException::fatalError.

Referenced by gripperClose().

◆ gripperOpen()

int vpRobotFranka::gripperOpen ( )

Closes the gripper.

Returns: EXIT_SUCCESS if the success, EXIT_FAILURE otherwise.

See also: gripperHoming(), gripperGrasp(), gripperRelease(), gripperOpen()

Definition at line 1264 of file vpRobotFranka.cpp.

References vpException::fatalError.

◆ gripperRelease()

void vpRobotFranka::gripperRelease ( )

Release an object that is grasped.

See also: gripperHoming(), gripperMove(), gripperRelease()

Definition at line 1285 of file vpRobotFranka.cpp.

References vpException::fatalError.

◆ move()

void vpRobotFranka::move	(	const std::string &	filename,
		double	velocity_percentage = `10.`
	)

Moves the robot to the joint position specified in the filename. The positioning velocity is set to 10% of the robot maximal velocity.

Parameters

filename	: File containing a joint position to reach.
velocity_percentage	: Velocity percentage. Values in range [1, 100].

Definition at line 1024 of file vpRobotFranka.cpp.

References vpRobot::JOINT_STATE, readPosFile(), setPosition(), setPositioningVelocity(), setRobotState(), and vpRobot::STATE_POSITION_CONTROL.

◆ readPosFile()

bool vpRobotFranka::readPosFile	(	const std::string &	filename,
		vpColVector &	q
	)

Read joint positions in a specific Franka position file.

This position file has to start with a header. The seven joint positions are given after the "R:" keyword and are expressed in degres to be more representative for the user. Theses values are then converted in radians in q. The character "#" starting a line indicates a comment.

A typical content of such a file is given below:

#PANDA - Joint position file
#
# R: q1 q2 q3 q4 q5 q6 q7
# with joint positions q1 to q7 expressed in degrees
#
 
R: 0.1 0.3 -0.25 -80.5 80 0 0

Parameters

[in]	filename	: Name of the position file to read.
[out]	q	: 7-dim joint positions: q1 q2 q3 q4 q5 q6 q7 with values expressed in radians.

Returns: true if the positions were successfully readen in the file. false, if an error occurs.

The code below shows how to read a position from a file and move the robot to this position.

vpRobotFranka robot;
vpColVector q;        // Joint position
robot.readPosFile("myposition.pos", q); // Set the joint position from the file
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
 
robot.setPositioningVelocity(5); // Positioning velocity set to 5%
robot.setPosition(vpRobot::ARTICULAR_FRAME, q); // Move to the joint position

See also: savePosFile(), move()

Definition at line 1078 of file vpRobotFranka.cpp.

References vpMath::rad(), vpColVector::resize(), and vpIoTools::splitChain().

Referenced by move().

◆ 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>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
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 164 of file vpRobot.cpp.

References vpException::dimensionError, and vpArray2D< Type >::size().

Referenced by vpRobotFlirPtu::setVelocity(), setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ savePosFile()

bool vpRobotFranka::savePosFile	(	const std::string &	filename,
		const vpColVector &	q
	)

Save joint positions in a specific Panda position file.

This position file starts with a header on the first line. After convertion of the rotations in degrees, the joint position q is written on a line starting with the keyword "R: ". See readPosFile() documentation for an example of such a file.

Parameters

filename	: Name of the position file to create.
q	: Joint positions vector to save in the filename with values expressed in radians.

Warning: The joint rotations written in the file are converted in degrees to be more representative for the user.

Returns: true if the positions were successfully saved in the file. false, if an error occurs.

See also: readPosFile()

Definition at line 1161 of file vpRobotFranka.cpp.

References vpMath::deg().

◆ set_eMc()

void vpRobotFranka::set_eMc ( const vpHomogeneousMatrix & eMc )

Set the $^{e}{\bf M}_c$ homogeneous transformation that gives the position of the camera frame (or in general of any tool frame) in the robot end-effector frame.

By default, this transformation is set to identity, meaning that the camera (or tool) frame is located on the end-effector.

This transformation has to be set before controlling the robot cartesian velocity in the camera frame or getting the position of the robot in the camera frame.

Parameters

[in] eMc : End-effector to camera frame transformation.

Definition at line 1013 of file vpRobotFranka.cpp.

◆ setForceTorque()

void vpRobotFranka::setForceTorque	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	ft,
		const double &	filter_gain = `0.1`,
		const bool &	activate_pi_controller = `false`
	)

Definition at line 892 of file vpRobotFranka.cpp.

References vpRobot::END_EFFECTOR_FRAME, getRobotInternalState(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpArray2D< Type >::size(), vpRobot::TOOL_FRAME, and vpRobotException::wrongStateError.

◆ setLogFolder()

void vpRobotFranka::setLogFolder ( const std::string & folder )

Set the folder or directory used to record logs at 1Kz when setVelocity() is used. By default the log folder is empty.

When the log folder is empty, logs are not created.

Parameters

[in] folder : A path to a folder that will contain a basket of log files. If the folder doesn't exist it will be created recursively.

Definition at line 588 of file vpRobotFranka.cpp.

References vpIoTools::checkDirectory(), vpException::fatalError, and vpIoTools::makeDirectory().

◆ 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 261 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

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

◆ 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 240 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

◆ setPosition()

void vpRobotFranka::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	position
	)

virtual

Set robot position. This function is blocking; it returns when the desired position is reached.

Parameters

[in]	frame	: The only possible value is vpRobot::JOINT_STATE. Other values are not implemented.
[in]	position	: This is a 7-dim vector that corresponds to the robot joint positions expressed in rad.

Implements vpRobot.

Definition at line 613 of file vpRobotFranka.cpp.

References vpException::fatalError, vpException::functionNotImplementedError, vpRobot::getRobotState(), vpRobot::JOINT_STATE, setRobotState(), and vpRobot::STATE_POSITION_CONTROL.

Referenced by move().

◆ setPositioningVelocity()

void vpRobotFranka::setPositioningVelocity ( double velocity )

Set the maximal velocity percentage to use for a position control.

Parameters

[in] velocity : Percentage of the maximal velocity. Values should be in ]0:100].

Definition at line 663 of file vpRobotFranka.cpp.

Referenced by move().

◆ setRobotFrame()

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

protectedinherited

Definition at line 208 of file vpRobot.cpp.

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

◆ setRobotState()

vpRobot::vpRobotStateType vpRobotFranka::setRobotState ( vpRobot::vpRobotStateType newState )

virtual

Change the robot state.

Parameters

[in] newState : New requested robot state.

Reimplemented from vpRobot.

Definition at line 671 of file vpRobotFranka.cpp.

References vpRobot::getRobotState(), vpRobot::setRobotState(), vpRobot::STATE_FORCE_TORQUE_CONTROL, vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, and vpRobot::STATE_VELOCITY_CONTROL.

Referenced by move(), setPosition(), stopMotion(), and ~vpRobotFranka().

◆ setVelocity()

void vpRobotFranka::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	vel
	)

virtual

Apply a velocity to the robot.

Parameters

[in]	frame	: Control frame in which the velocity is expressed. Velocities could be expressed as joint velocities, cartesian velocity twist expressed in the robot reference frame, in the end-effector frame or in the camera or tool frame.
[in]	vel	: Velocity vector. Translation velocities are expressed in m/s while rotation velocities in rad/s. The size of this vector is always 6 for a cartesian velocity skew, and 7 for joint velocities.

When joint velocities have to be applied, frame should be set to vpRobot::JOINT_STATE, and $vel = [\dot{q}_1, \dot{q}_2, \dot{q}_3, \dot{q}_4, \dot{q}_5, \dot{q}_6]^t, \dot{q}_7]^T$ correspond to joint velocities in rad/s.
When cartesian velocities have to be applied in the reference frame (or in a frame also called fixed frame in ViSP), frame should be set to vpRobot::REFERENCE_FRAME, $vel = [^{f} v_x, ^{f} v_y, ^{f} v_z, ^{f} \omega_x, ^{f} \omega_y, ^{f} \omega_z]^T$ is a velocity twist vector corresponding to the velocity of the origin of the camera frame (or tool frame) expressed in the reference frame, with translations velocities $^{f} v_x, ^{f} v_y, ^{f} v_z$ in m/s and rotation velocities $^{f}\omega_x, ^{f} \omega_y, ^{f} \omega_z$ in rad/s.
When cartesian velocities have to be applied in the end-effector frame, frame should be set to vpRobot::END_EFFECTOR_FRAME, $vel = [^{e} v_x, ^{e} v_y, ^{e} v_z, ^{e} \omega_x, ^{e} \omega_y, ^{e} \omega_z]^T$ is a velocity twist vector corresponding to the velocity of the origin of the end-effector frame expressed in the end-effector frame, with translations velocities $^{e} v_x, ^{e} v_y, ^{e} v_z$ in m/s and rotation velocities $^{e}\omega_x, ^{e} \omega_y, ^{e} \omega_z$ in rad/s.
When cartesian velocities have to be applied in the camera frame or more generally in a tool frame, frame should be set to vpRobot::CAMERA_FRAME or vpRobot::TOOL_FRAME, $vel = [^{c} v_x, ^{c} v_y, ^{c} v_z, ^{c} \omega_x, ^{c} \omega_y, ^{c} \omega_z]^T$ is a velocity twist vector corresponding to the velocity of the origin of the camera (or tool frame) frame expressed in the camera (or tool frame), with translations velocities $^{c} v_x, ^{c} v_y, ^{c} v_z$ in m/s and rotation velocities $^{c}\omega_x, ^{c} \omega_y, ^{c} \omega_z$ in rad/s.

Exceptions

vpRobotException::wrongStateError : If a the robot is not configured to handle a velocity. The robot can handle a velocity only if the velocity control mode is set. For that, call setRobotState( vpRobot::STATE_VELOCITY_CONTROL) before setVelocity().

Warning: Velocities could be saturated if one of them exceed the maximal authorized speed (see vpRobot::maxTranslationVelocity and vpRobot::maxRotationVelocity). To change these values use setMaxTranslationVelocity() and setMaxRotationVelocity().

Implements vpRobot.

Definition at line 818 of file vpRobotFranka.cpp.

References vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, vpRobot::TOOL_FRAME, and vpRobotException::wrongStateError.

Referenced by stopMotion().

◆ 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 170 of file vpRobot.h.

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

◆ stopMotion()

void vpRobotFranka::stopMotion ( void )

Stop the robot when it is controlled in velocity and set the robot state to vpRobot::STATE_STOP.

Exceptions

vpRobotException::lowLevelError : If the low level controller returns an error during robot stopping.

Definition at line 1190 of file vpRobotFranka.cpp.

References vpRobot::getRobotState(), vpRobot::JOINT_STATE, setRobotState(), setVelocity(), vpRobot::STATE_STOP, and vpRobot::STATE_VELOCITY_CONTROL.

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 114 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 106 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_eJe(), vpRobotAfma6::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotAfma4::get_eJe(), vpRobotBiclops::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 108 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 110 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 112 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 100 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 101 of file vpRobot.h.

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

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 98 of file vpRobot.h.

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

◆ maxTranslationVelocityDefault

BEGIN_VISP_NAMESPACE const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 99 of file vpRobot.h.

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

◆ nDof

int vpRobot::nDof

protectedinherited

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 116 of file vpRobot.h.

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

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 115 of file vpRobot.h.

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

◆ verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 118 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().

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ vpControlFrameType

◆ vpRobotStateType

Constructor & Destructor Documentation

◆ vpRobotFranka() [1/2]

◆ vpRobotFranka() [2/2]

◆ ~vpRobotFranka()

Member Function Documentation

◆ connect()

◆ get_eJe() [1/2]

◆ get_eJe() [2/2]

◆ get_eMc()

◆ get_fJe() [1/2]

◆ get_fJe() [2/2]

◆ get_fMc()

◆ get_fMe()

◆ getCoriolis()

◆ getForceTorque()

◆ getGravity()

◆ getGripperHandler()

◆ getHandler()

◆ getJointMax()

◆ getJointMin()

◆ getMass()

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getNDof()

◆ getPosition() [1/3]

◆ getPosition() [2/3]

◆ getPosition() [3/3]

◆ getRobotFrame()

◆ getRobotInternalState()

◆ getRobotState()

◆ getVelocity()

◆ gripperClose()

◆ gripperGrasp() [1/2]

◆ gripperGrasp() [2/2]

◆ gripperHoming()

◆ gripperMove()

◆ gripperOpen()

◆ gripperRelease()

◆ move()

◆ readPosFile()

◆ saturateVelocities()

◆ savePosFile()

◆ set_eMc()

◆ setForceTorque()

◆ setLogFolder()

◆ setMaxRotationVelocity()

◆ setMaxTranslationVelocity()

◆ setPosition()

◆ setPositioningVelocity()

◆ setRobotFrame()

◆ setRobotState()

◆ setVelocity()

◆ setVerbose()

◆ stopMotion()

Member Data Documentation

◆ areJointLimitsAvailable

◆ eJe

◆ eJeAvailable

◆ fJe

◆ fJeAvailable

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

◆ maxTranslationVelocity

◆ maxTranslationVelocityDefault

◆ nDof

◆ qmax

◆ qmin

◆ verbose_