#include <visp3/robot/vpRobotKinova.h>

Inheritance diagram for vpRobotKinova:

Public Types
enum	CommandLayer { CMD_LAYER_USB , CMD_LAYER_ETHERNET , CMD_LAYER_UNSET }

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
	vpRobotKinova ()

virtual	~vpRobotKinova () VP_OVERRIDE

int	connect ()

void	get_eJe (vpMatrix &eJe) VP_OVERRIDE

void	get_fJe (vpMatrix &fJe) VP_OVERRIDE

vpHomogeneousMatrix	get_eMc () const

int	getActiveDevice () const

int	getNumDevices () const

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

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

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

void	homing ()

void	set_eMc (vpHomogeneousMatrix &eMc)

void	setActiveDevice (int device)

void	setCommandLayer (CommandLayer command_layer)

void	setDoF (unsigned int dof)

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

void	setPluginLocation (const std::string &plugin_location)

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

void	setVerbose (bool verbose)

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)

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
void	closePlugin ()

void	getJointPosition (vpColVector &q)

void	init ()

void	loadPlugin ()

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

void	setJointVelocity (const vpColVector &qdot)

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

vpControlFrameType	getRobotFrame (void) const

Protected Attributes
vpHomogeneousMatrix	m_eMc

std::string	m_plugin_location

bool	m_verbose

bool	m_plugin_loaded

int	m_devices_count

KinovaDevice *	m_devices_list

int	m_active_device

CommandLayer	m_command_layer

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

Interface for Kinova Jaco2 robot.

This class is a wrapper over Kinova Jaco SDK that could be downloaded from Kinova Robotics software resources by following the link under Gen2 7 DoF > SDK 1.5.1.

It allows to control Kinova Jaco2 robot Gen 2 with 7 DoF, 6 DoF and 4 DoF.

To select the degrees of freedom corresponding to your robot use setDoF().

Examples: servoKinovaJacoCart.cpp, and servoKinovaJacoJoint.cpp.

Definition at line 90 of file vpRobotKinova.h.

Member Enumeration Documentation

◆ CommandLayer

enum vpRobotKinova::CommandLayer

Enumerator
CMD_LAYER_USB
CMD_LAYER_ETHERNET
CMD_LAYER_UNSET

Definition at line 93 of file vpRobotKinova.h.

◆ 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

◆ vpRobotKinova()

BEGIN_VISP_NAMESPACE vpRobotKinova::vpRobotKinova ( )

Default constructor that consider a 6 DoF Jaco arm. Use setDoF() to change the degrees of freedom.

Definition at line 55 of file vpRobotKinova.cpp.

References init().

◆ ~vpRobotKinova()

vpRobotKinova::~vpRobotKinova ( )

virtual

Destructor.

Definition at line 65 of file vpRobotKinova.cpp.

References closePlugin(), and m_devices_list.

Member Function Documentation

◆ closePlugin()

void vpRobotKinova::closePlugin ( )

protected

Close plugin.

Definition at line 786 of file vpRobotKinova.cpp.

References m_plugin_loaded, and m_verbose.

Referenced by loadPlugin(), and ~vpRobotKinova().

◆ connect()

int vpRobotKinova::connect ( )

Connect to Kinova devices.

Returns: Number of devices that are connected.

Definition at line 823 of file vpRobotKinova.cpp.

References vpException::fatalError, loadPlugin(), m_devices_count, m_devices_list, m_plugin_loaded, m_verbose, and setActiveDevice().

◆ get_eJe()

void vpRobotKinova::get_eJe ( vpMatrix & eJe )

virtual

Get the robot Jacobian expressed in the end-effector frame. This function is not implemented. In fact, we don't need it since we can control the robot in cartesian in end-effector frame.

Parameters

[out] eJe : End-effector frame Jacobian.

Implements vpRobot.

Definition at line 122 of file vpRobotKinova.cpp.

References vpRobot::eJe, vpException::fatalError, m_devices_count, and m_plugin_loaded.

◆ get_eMc()

vpHomogeneousMatrix vpRobotKinova::get_eMc ( ) const

inline

Return constant transformation between end-effector and tool frame. If your tool is a camera, this transformation is obtained by hand-eye calibration.

Definition at line 107 of file vpRobotKinova.h.

◆ get_fJe()

void vpRobotKinova::get_fJe ( vpMatrix & fJe )

virtual

Get the robot Jacobian expressed in the robot reference frame. This function is not implemented. In fact, we don't need it since we can control the robot in cartesian in end-effector frame.

Parameters

[out] fJe : Base (or reference) frame Jacobian.

Implements vpRobot.

Definition at line 142 of file vpRobotKinova.cpp.

References vpException::fatalError, vpRobot::fJe, m_devices_count, and m_plugin_loaded.

◆ getActiveDevice()

int vpRobotKinova::getActiveDevice ( ) const

inline

Definition at line 109 of file vpRobotKinova.h.

◆ getDisplacement()

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

virtual

Get a displacement.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[out]	q	: Displacement in meter and rad.

Implements vpRobot.

Definition at line 680 of file vpRobotKinova.cpp.

References vpException::fatalError, m_devices_count, and m_plugin_loaded.

◆ getJointPosition()

void vpRobotKinova::getJointPosition ( vpColVector & q )

protected

Get robot joint positions.

Warning: We consider here that the robot has only 6 dof, but from the Jaco SDK it could be 7. Should be improved.

Parameters

[in] q : Joint position in rad.

Definition at line 444 of file vpRobotKinova.cpp.

References vpException::fatalError, vpRobot::nDof, vpMath::rad(), and vpColVector::resize().

Referenced by getPosition().

◆ 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(), vpRobotFranka::setVelocity(), 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(), vpRobotFranka::setVelocity(), 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.

◆ getNumDevices()

int vpRobotKinova::getNumDevices ( ) const

inline

Definition at line 110 of file vpRobotKinova.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 vpRobotKinova::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	position
	)

virtual

Get robot position.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[out]	position	: Either joint or cartesian position. When `frame` is set to vpRobot::JOINT_STATE, `position` contains joint angles expressed in rad, while when `frame` is set to vpRobot::END_EFFECTOR_FRAME `position` contains the cartesian position of the end-effector in the robot base frame as a 6-dim vector, with first the 3 translations expressed in meter, and then the 3 Euler rotations Rxyz expressed in radians.

The following code shows how to use this function and convert the resulting position into an homogeneous matrix that gives the transformation between the robot base frame and the end-effector:

vpColVector position;
...
robot.getPosition(vpRobot::END_EFFECTOR_FRAME, position);
vpTranslationVector wte; // reference frame to end-effector frame translations
vpRxyzVector wre; // reference frame to end-effector frame rotations
// Update the transformation between reference frame and end-effector frame
for (unsigned int i=0; i < 3; i++) {
  wte[i] = position[i];   // tx, ty, tz
  wre[i] = position[i+3]; // ry, ry, rz
}
// Create a rotation matrix from the Rxyz rotation angles
vpRotationMatrix wRe(wre); // reference frame to end-effector frame rotation matrix
// Create reference frame to end-effector frame transformation in terms of an homogeneous matrix
vpHomogeneousMatrix wMe(wte, wRe);

Implements vpRobot.

Definition at line 512 of file vpRobotKinova.cpp.

References vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, getJointPosition(), vpRobot::JOINT_STATE, m_devices_count, m_plugin_loaded, and vpColVector::resize().

Referenced by getPosition(), and setCartVelocity().

◆ getPosition() [3/3]

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

Get robot position.

Parameters

[in]	frame	: Type of cartesian position to retrieve. Admissible value is: vpRobot::END_EFFECTOR_FRAME to retrieve the cartesian position of the end-effector frame wrt the robot base frame.
[out]	pose	: Cartesian position of the end-effector in the robot base frame as a 6-dim pose vector, with first the 3 translations expressed in meter, and then the 3 rotations in radian as a $\theta {\bf u}$ vector (see vpThetaUVector).

The following code shows how to use this function and convert the resulting position into an homogeneous matrix that gives the transformation between the robot base frame and the end-effector:

vpPoseVector pose;
...
robot.getPosition(vpRobot::END_EFFECTOR_FRAME, pose);
// Create reference frame to end-effector frame transformation in terms of an homogeneous matrix
vpHomogeneousMatrix wMe(pose);

Definition at line 560 of file vpRobotKinova.cpp.

References vpException::fatalError, getPosition(), and vpRobot::JOINT_STATE.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 183 of file vpRobot.h.

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 155 of file vpRobot.h.

◆ homing()

void vpRobotKinova::homing ( )

Move the robot to home position.

Definition at line 804 of file vpRobotKinova.cpp.

References vpException::fatalError, m_devices_count, m_plugin_loaded, and m_verbose.

◆ init()

void vpRobotKinova::init ( void )

protectedvirtual

Basic initialization.

Implements vpRobot.

Definition at line 92 of file vpRobotKinova.cpp.

References m_devices_list, vpRobot::maxRotationVelocity, vpRobot::maxRotationVelocityDefault, vpRobot::maxTranslationVelocity, vpRobot::maxTranslationVelocityDefault, and vpRobot::nDof.

Referenced by vpRobotKinova().

◆ loadPlugin()

void vpRobotKinova::loadPlugin ( )

protected

Load functions from Jaco SDK plugin.

When command layer is set to CMD_LAYER_USB we load Kinova.API.USBCommandLayerUbuntu.so or CommandLayerWindows.dll respectively on unix-like or Windows platform.
When command layer is set to CMD_LAYER_ETHERNET we load Kinova.API.EthCommandLayerUbuntu.so or CommandLayerEthernet.dll respectively on unix-like or Windows platform.

There is setPluginLocation() that allows to modify the default location of the plugin set to "./".

See also: setPluginLocation(), setCommandLayer()

Definition at line 705 of file vpRobotKinova.cpp.

References closePlugin(), CMD_LAYER_UNSET, CMD_LAYER_USB, vpIoTools::createFilePath(), vpException::fatalError, m_command_layer, m_plugin_loaded, m_plugin_location, and m_verbose.

Referenced by connect().

◆ 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(), vpRobotFranka::setVelocity(), setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().

◆ set_eMc()

void vpRobotKinova::set_eMc ( vpHomogeneousMatrix & eMc )

inline

Set constant transformation between end-effector and tool frame. If your tool is a camera, this transformation is obtained by hand-eye calibration.

Definition at line 121 of file vpRobotKinova.h.

◆ setActiveDevice()

void vpRobotKinova::setActiveDevice ( int device )

Set active device.

Parameters

[in] device : Device id corresponding to the active device. The first device has id 0. The last device is is given by getNumDevices() - 1. By default, the active device is the first one.

To know how many devices are connected, use getNumDevices().

See also: getActiveDevice()

Definition at line 861 of file vpRobotKinova.cpp.

References vpException::badValue, vpException::fatalError, m_active_device, m_devices_count, m_devices_list, and m_plugin_loaded.

Referenced by connect().

◆ setCartVelocity()

void vpRobotKinova::setCartVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	v
	)

protected

Send to the controller a 6-dim velocity twist vector expressed in a Cartesian frame.

Parameters

[in]	frame	: Cartesian control frame. Units are m/s for translation and rad/s for rotation velocities. In CAMERA_FRAME or TOOL_FRAME, we consider that v 6-dim velocity twist vector contains translation and rotation velocities expressed in the camera or tool frame respectively. In END_EFFECTOR_FRAME, we consider that v 6-dim velocity twist vector contains translation and rotation velocities expressed in the end-effector frame. In MIXT_FRAME, we consider that v 6-dim velocity twist vector contains translation velocities expressed in the base frame and rotation velocities expressed in the effector frame.
[in]	v	: 6-dim velocity twist vector that contains 3 translation velocities followed by 3 rotation velocities. Units are m/s for translation and rad/s for rotation velocities.

Definition at line 177 of file vpRobotKinova.cpp.

References vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpMatrix::eye(), vpException::fatalError, getPosition(), vpMatrix::insert(), vpRobot::JOINT_STATE, m_eMc, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, and vpArray2D< Type >::size().

Referenced by setVelocity().

◆ setCommandLayer()

void vpRobotKinova::setCommandLayer ( CommandLayer command_layer )

inline

Set command layer indicating if the robot is controlled throw USB or Ethernet.

Parameters

[in] command_layer : Layer used to control the robot.

Definition at line 127 of file vpRobotKinova.h.

◆ setDoF()

void vpRobotKinova::setDoF ( unsigned int dof )

Specify Jaco robot degrees of freedom.

Parameters

dof	: Possible values are 4, 6 or 7 corresponding to the degrees of freedom of your Kinova Jaco robot.

Definition at line 78 of file vpRobotKinova.cpp.

References vpException::fatalError, and vpRobot::nDof.

◆ setJointVelocity()

void vpRobotKinova::setJointVelocity ( const vpColVector & qdot )

protected

Send a joint velocity to the controller.

Parameters

[in] qdot : Joint velocities vector. Units are rad/s for a robot arm joint velocities.

Definition at line 307 of file vpRobotKinova.cpp.

References vpMath::deg(), vpException::dimensionError, vpException::fatalError, vpRobot::nDof, and vpArray2D< Type >::size().

Referenced by 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 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.

◆ setPluginLocation()

void vpRobotKinova::setPluginLocation ( const std::string & plugin_location )

inline

Parameters

[in] plugin_location Path to Jaco SDK plugins (ie. Kinova.API.USBCommandLayerUbuntu.so on unix-like platform or CommandLayerWindows.dll on Windows platform). By default this location is empty, meaning that we suppose that the plugins are located in the same folder as the binary that want to use them.

Definition at line 136 of file vpRobotKinova.h.

◆ setPosition()

void vpRobotKinova::setPosition	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	q
	)

virtual

Set a position to reach.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[in]	q	: Position to reach.

Implements vpRobot.

Definition at line 587 of file vpRobotKinova.cpp.

References vpMath::deg(), vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, vpRobot::JOINT_STATE, m_devices_count, m_plugin_loaded, m_verbose, vpRobot::nDof, vpArray2D< Type >::size(), and vpColVector::t().

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

virtualinherited

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

Examples: UniversalRobotsMoveToPosition.cpp, UniversalRobotsSavePosition.cpp, frankaMoveToPosition.cpp, frankaSavePosition.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricMappingVisualServoing.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_cur_integrator.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 202 of file vpRobot.cpp.

Referenced by vpSimulatorCamera::setPosition(), vpRobotBiclops::setRobotState(), vpRobotPololuPtu::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().

◆ setVelocity()

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

virtual

Send to the controller a velocity in a given frame.

Parameters

[in]	frame	: Control frame in which the velocity vel is expressed. In cartesian control frames, units are m/s for translation and rad/s for rotation velocities. In CAMERA_FRAME or TOOL_FRAME, we consider that vel 6-dim velocity twist vector contains translation and rotation velocities expressed in the camera or tool frame respectively. In END_EFFECTOR_FRAME, we consider that vel 6-dim velocity twist vector contains translation and rotation velocities expressed in the end-effector frame. In MIXT_FRAME, we consider that vel 6-dim velocity twist vector contains translation velocities expressed in the base frame and rotation velocities expressed in the effector frame. To send a joint velocity, use rather JOINT_STATE. Units are rad/s for a robot arm joint velocities.
[in]	vel	: Vector that contains the velocity to apply to the robot. In cartesian control frames, 6-dim velocity twist vector that contains 3 translation velocities followed by 3 rotation velocities. When a joint velocities vector is given, 6-dim vector corresponding to joint velocities.

Implements vpRobot.

Definition at line 372 of file vpRobotKinova.cpp.

References vpException::dimensionError, vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpRobot::JOINT_STATE, m_devices_count, m_plugin_loaded, vpRobot::MIXT_FRAME, vpRobot::nDof, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), setCartVelocity(), setJointVelocity(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, vpRobot::TOOL_FRAME, and vpRobotException::wrongStateError.

◆ setVerbose()

void vpRobotKinova::setVerbose ( bool verbose )

inline

Enable or disable verbose mode to print to stdout additional information.

Parameters

[in] verbose : true to enable verbose, false to disable. By default verbose mode is disabled.

Definition at line 143 of file vpRobotKinova.h.

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(), 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(), 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=().

◆ m_active_device

int vpRobotKinova::m_active_device

protected

Definition at line 160 of file vpRobotKinova.h.

Referenced by setActiveDevice().

◆ m_command_layer

CommandLayer vpRobotKinova::m_command_layer

protected

Definition at line 161 of file vpRobotKinova.h.

Referenced by loadPlugin().

◆ m_devices_count

int vpRobotKinova::m_devices_count

protected

Definition at line 158 of file vpRobotKinova.h.

Referenced by connect(), get_eJe(), get_fJe(), getDisplacement(), getPosition(), homing(), setActiveDevice(), setPosition(), and setVelocity().

◆ m_devices_list

KinovaDevice* vpRobotKinova::m_devices_list

protected

Definition at line 159 of file vpRobotKinova.h.

Referenced by connect(), init(), setActiveDevice(), and ~vpRobotKinova().

◆ m_eMc

vpHomogeneousMatrix vpRobotKinova::m_eMc

protected

Constant transformation between end-effector and tool (or camera) frame.

Definition at line 154 of file vpRobotKinova.h.

Referenced by setCartVelocity().

◆ m_plugin_loaded

bool vpRobotKinova::m_plugin_loaded

protected

Definition at line 157 of file vpRobotKinova.h.

Referenced by closePlugin(), connect(), get_eJe(), get_fJe(), getDisplacement(), getPosition(), homing(), loadPlugin(), setActiveDevice(), setPosition(), and setVelocity().

◆ m_plugin_location

std::string vpRobotKinova::m_plugin_location

protected

Definition at line 155 of file vpRobotKinova.h.

Referenced by loadPlugin().

◆ m_verbose

bool vpRobotKinova::m_verbose

protected

Definition at line 156 of file vpRobotKinova.h.

Referenced by closePlugin(), connect(), homing(), loadPlugin(), and setPosition().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 100 of file vpRobot.h.

Referenced by vpRobot::getMaxRotationVelocity(), vpRobotFlirPtu::init(), 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(), init(), and vpRobotTemplate::init().

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobot::getMaxTranslationVelocity(), vpRobotFlirPtu::init(), 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(), init(), and vpRobotTemplate::init().

◆ nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 104 of file vpRobot.h.

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

◆ 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

◆ CommandLayer

◆ vpControlFrameType

◆ vpRobotStateType

Constructor & Destructor Documentation

◆ vpRobotKinova()

◆ ~vpRobotKinova()

Member Function Documentation

◆ closePlugin()

◆ connect()

◆ get_eJe()

◆ get_eMc()

◆ get_fJe()

◆ getActiveDevice()

◆ getDisplacement()

◆ getJointPosition()

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getNDof()

◆ getNumDevices()

◆ getPosition() [1/3]

◆ getPosition() [2/3]

◆ getPosition() [3/3]

◆ getRobotFrame()

◆ getRobotState()

◆ homing()

◆ init()

◆ loadPlugin()

◆ saturateVelocities()

◆ set_eMc()

◆ setActiveDevice()

◆ setCartVelocity()

◆ setCommandLayer()

◆ setDoF()

◆ setJointVelocity()

◆ setMaxRotationVelocity()

◆ setMaxTranslationVelocity()

◆ setPluginLocation()

◆ setPosition()

◆ setRobotFrame()

◆ setRobotState()

◆ setVelocity()

◆ setVerbose()

Member Data Documentation

◆ areJointLimitsAvailable

◆ eJe

◆ eJeAvailable

◆ fJe

◆ fJeAvailable

◆ m_active_device

◆ m_command_layer

◆ m_devices_count

◆ m_devices_list

◆ m_eMc

◆ m_plugin_loaded

◆ m_plugin_location

◆ m_verbose

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

◆ maxTranslationVelocity

◆ maxTranslationVelocityDefault

◆ nDof

◆ qmax

◆ qmin

◆ verbose_