Visual Servoing Platform
version 3.6.1 under development (2024-11-14)
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#include <visp3/robot/vpRobotPololuPtu.h>
Public Types | |
enum | vpRobotStateType { STATE_STOP , STATE_VELOCITY_CONTROL , STATE_POSITION_CONTROL , STATE_ACCELERATION_CONTROL , STATE_FORCE_TORQUE_CONTROL } |
enum | vpControlFrameType { REFERENCE_FRAME , ARTICULAR_FRAME , JOINT_STATE = ARTICULAR_FRAME , END_EFFECTOR_FRAME , CAMERA_FRAME , TOOL_FRAME = CAMERA_FRAME , MIXT_FRAME } |
Public Member Functions | |
vpRobotPololuPtu (const std::string &device="/dev/ttyACM0", int baudrate=9600, bool verbose=false) | |
~vpRobotPololuPtu () VP_OVERRIDE | |
void | get_eJe (vpMatrix &eJe) VP_OVERRIDE |
void | get_eJe (const vpColVector &q, vpMatrix &eJe) const |
void | get_fJe (vpMatrix &fJe) VP_OVERRIDE |
void | get_fJe (const vpColVector &q, vpMatrix &fJe) const |
float | getAngularVelocityResolution () const |
void | getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE |
float | getPositioningVelocityPercentage () const |
void | setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q) VP_OVERRIDE |
void | setPositioningVelocityPercentage (float positioning_velocity_percentage) |
void | setVerbose (bool verbose) |
void | setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &q_dot) VP_OVERRIDE |
void | stopVelocity () |
vpRobot::vpRobotStateType | setRobotState (const vpRobot::vpRobotStateType newState) VP_OVERRIDE |
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) |
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 |
Interface for the Pololu Maestro pan-tilt unit using two servo motors.
See https://www.pololu.com/category/102/maestro-usb-servo-controllers for more details.
This class handle the vpPololu class in a higher level and allows to control the pan-tilt unit using position or velocity commands.
The corresponding Denavit-Hartenberg representations of the PTU is the following:
Joint | ||||
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1 | 0 | 0 | ||
2 | 0 | 0 |
Definition at line 63 of file vpRobotPololuPtu.h.
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inherited |
Robot control frames.
Enumerator | |
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REFERENCE_FRAME | Corresponds to a fixed reference frame attached to the robot structure. |
ARTICULAR_FRAME | Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE. |
JOINT_STATE | Corresponds to the joint state. |
END_EFFECTOR_FRAME | Corresponds to robot end-effector frame. |
CAMERA_FRAME | Corresponds to a frame attached to the camera mounted on the robot end-effector. |
TOOL_FRAME | Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME. |
MIXT_FRAME | Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame. |
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inherited |
Robot control states.
BEGIN_VISP_NAMESPACE vpRobotPololuPtu::vpRobotPololuPtu | ( | const std::string & | device = "/dev/ttyACM0" , |
int | baudrate = 9600 , |
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bool | verbose = false |
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Default constructor.
[in] | device | : Name of the serial interface used for communication. |
[in] | baudrate | : Baudrate used for the serial communication. Note that this parameter is only used on Windows. |
[in] | verbose | : When true, enable verbose mode. |
Definition at line 44 of file vpRobotPololuPtu.cpp.
References vpPololu::connect(), vpRobot::nDof, vpMath::rad(), vpPololu::setAngularRange(), vpPololu::setPwmRange(), and vpPololu::setVerbose().
vpRobotPololuPtu::~vpRobotPololuPtu | ( | ) |
Destructor that stops the movements.
Definition at line 59 of file vpRobotPololuPtu.cpp.
References vpPololu::stopVelocityCmd().
void vpRobotPololuPtu::get_eJe | ( | const vpColVector & | q, |
vpMatrix & | eJe | ||
) | const |
Get the robot jacobian expressed in the end-effector frame.
[in] | q | : Joint positions to consider [rad]. |
[out] | eJe | : Jacobian between end effector frame and end effector frame (on tilt axis). |
Definition at line 81 of file vpRobotPololuPtu.cpp.
References vpException::dimensionError, vpRobot::eJe, vpRobot::nDof, vpArray2D< Type >::resize(), and vpArray2D< Type >::size().
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virtual |
Get the robot jacobian expressed in the end-effector frame.
[out] | eJe | : Jacobian between end effector frame and end effector frame (on tilt axis). |
Implements vpRobot.
Definition at line 65 of file vpRobotPololuPtu.cpp.
References vpRobot::eJe, getPosition(), vpRobot::JOINT_STATE, and vpRobot::nDof.
void vpRobotPololuPtu::get_fJe | ( | const vpColVector & | q, |
vpMatrix & | fJe | ||
) | const |
Get the robot jacobian expressed in the robot reference frame.
[in] | q | : Joint positions to consider [rad]. |
[out] | fJe | : Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis). |
Definition at line 99 of file vpRobotPololuPtu.cpp.
References vpException::dimensionError, vpRobot::fJe, vpRobot::nDof, vpArray2D< Type >::resize(), and vpArray2D< Type >::size().
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Get the robot jacobian expressed in the robot reference frame.
[out] | fJe | : Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis). |
Implements vpRobot.
Definition at line 73 of file vpRobotPololuPtu.cpp.
References vpRobot::fJe, getPosition(), vpRobot::JOINT_STATE, and vpRobot::nDof.
float vpRobotPololuPtu::getAngularVelocityResolution | ( | ) | const |
Return the minimul angular velocity in rad/s that could be applied to move the motors. It corresponds to 1 pwm converted in rad/s.
Definition at line 117 of file vpRobotPololuPtu.cpp.
References vpPololu::speedToRadS().
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inherited |
Get the maximal rotation velocity that can be sent to the robot during a velocity control.
Definition at line 274 of file vpRobot.cpp.
References vpRobot::maxRotationVelocity.
Referenced by 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(), and vpRobotViper850::setVelocity().
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Get the maximal translation velocity that can be sent to the robot during a velocity control.
Definition at line 252 of file vpRobot.cpp.
References vpRobot::maxTranslationVelocity.
Referenced by vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
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inlineinherited |
Return robot degrees of freedom number.
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inherited |
Return the current robot position in the specified frame.
Definition at line 217 of file vpRobot.cpp.
References vpRobot::getPosition().
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virtual |
Return the position of each joint.
[in] | frame | : Control frame. This PTU can only be controlled in joint state. |
[out] | q | : The position of the joints in radians. |
vpRobotException::wrongStateError | : If a not supported frame type is given. |
Implements vpRobot.
Definition at line 266 of file vpRobotPololuPtu.cpp.
References vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpPololu::getAngularPosition(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpRobot::nDof, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and vpRobotException::wrongStateError.
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Get the percentage of the maximum velocity applied to move the PTU in position.
Definition at line 149 of file vpRobotPololuPtu.h.
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inlineprotectedinherited |
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inlinevirtualinherited |
Definition at line 155 of file vpRobot.h.
Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpSimulatorCamera::setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotFranka::setPosition(), vpRobotUniversalRobots::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotBiclops::setPosition(), setPosition(), vpRobotPtu46::setPosition(), vpRobotBiclops::setRobotState(), setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotBiclops::setVelocity(), setVelocity(), vpRobotPtu46::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(), vpRobotFlirPtu::stopMotion(), vpRobotFranka::stopMotion(), vpRobotViper650::stopMotion(), and vpRobotViper850::stopMotion().
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staticinherited |
Saturate velocities.
v_in | : Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s. |
v_max | : Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s. |
verbose | : Print a message indicating which axis causes the saturation. |
vpRobotException::dimensionError | : If the input vectors have different dimensions. |
The code below shows how to use this static method in order to saturate a velocity skew vector.
Definition at line 164 of file vpRobot.cpp.
References vpException::dimensionError, and vpArray2D< Type >::size().
Referenced by vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
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Set the maximal rotation velocity that can be sent to the robot during a velocity control.
w_max | : Maximum rotational velocity expressed in rad/s. |
Definition at line 261 of file vpRobot.cpp.
References vpRobot::maxRotationVelocity.
Referenced by vpRobotViper650::setMaxRotationVelocity(), and vpRobotViper850::setMaxRotationVelocity().
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Set the maximal translation velocity that can be sent to the robot during a velocity control.
v_max | : Maximum translation velocity expressed in m/s. |
Definition at line 240 of file vpRobot.cpp.
References vpRobot::maxTranslationVelocity.
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Move the robot to a given joint position.
[in] | frame | : Control frame. This PTU can only be controlled in joint state. |
[in] | q | : The joint position to set for each axis in radians. |
vpRobotException::wrongStateError | : If a not supported frame type is given. |
Implements vpRobot.
Definition at line 122 of file vpRobotPololuPtu.cpp.
References vpRobot::CAMERA_FRAME, vpException::dimensionError, vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getRobotState(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpRobot::nDof, vpRobot::REFERENCE_FRAME, vpPololu::setAngularPosition(), setRobotState(), vpArray2D< Type >::size(), vpRobot::STATE_POSITION_CONTROL, and vpRobotException::wrongStateError.
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Set the percentage of the maximum velocity applied to move the PTU in position.
[in] | positioning_velocity_percentage | : Percentage between [0,100] of the maximum velocity. The maximum positioning velocity is given vpRobot::getMaxRotationVelocity(). |
Definition at line 178 of file vpRobotPololuPtu.h.
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Definition at line 208 of file vpRobot.cpp.
Referenced by vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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Change the state of the robot either to stop them, or to set position or speed control.
Reimplemented from vpRobot.
Definition at line 234 of file vpRobotPololuPtu.cpp.
References vpRobot::getRobotState(), vpRobot::setRobotState(), vpRobot::STATE_POSITION_CONTROL, vpRobot::STATE_STOP, vpRobot::STATE_VELOCITY_CONTROL, and stopVelocity().
Referenced by setPosition().
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Send a velocity on each axis.
[in] | frame | : Control frame. This Biclops head can only be controlled in joint state. Be aware, the camera frame (vpRobot::CAMERA_FRAME), the reference frame (vpRobot::REFERENCE_FRAME), end-effector frame (vpRobot::END_EFFECTOR_FRAME) and the mixt frame (vpRobot::MIXT_FRAME) are not implemented. |
[in] | q_dot | : The desired joint velocities for each axis in rad/s. with the pan of the camera and the tilt of the camera. |
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(). |
vpRobotException::wrongStateError | : If a not supported frame type (vpRobot::CAMERA_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::END_EFFECTOR_FRAME or vpRobot::MIXT_FRAME) is given. |
Implements vpRobot.
Definition at line 159 of file vpRobotPololuPtu.cpp.
References vpRobot::CAMERA_FRAME, vpException::dimensionError, vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getRobotState(), vpArray2D< Type >::getRows(), vpRobot::JOINT_STATE, vpRobot::MIXT_FRAME, vpRobot::nDof, vpRobot::REFERENCE_FRAME, vpPololu::setAngularVelocity(), vpArray2D< Type >::size(), vpRobot::STATE_VELOCITY_CONTROL, vpColVector::t(), and vpRobotException::wrongStateError.
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Enable/disable verbose mode.
[in] | verbose | : Set to true to enable verbose mode, false otherwise. |
Definition at line 188 of file vpRobotPololuPtu.h.
void vpRobotPololuPtu::stopVelocity | ( | ) |
Stop the velocity command.
Definition at line 260 of file vpRobotPololuPtu.cpp.
References vpPololu::stopVelocityCmd().
Referenced by setRobotState().
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Definition at line 114 of file vpRobot.h.
Referenced by vpRobot::operator=().
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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(), get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), vpSimulatorCamera::get_eJe(), vpRobot::operator=(), and vpRobotAfma4::setVelocity().
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is the robot Jacobian expressed in the end-effector frame available
Definition at line 108 of file vpRobot.h.
Referenced by vpRobot::operator=().
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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(), get_fJe(), vpRobotViper650::get_fJe(), vpRobotViper850::get_fJe(), and vpRobot::operator=().
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is the robot Jacobian expressed in the robot reference frame available
Definition at line 112 of file vpRobot.h.
Referenced by vpRobot::operator=().
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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().
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Definition at line 101 of file vpRobot.h.
Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().
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Definition at line 98 of file vpRobot.h.
Referenced by vpRobot::getMaxTranslationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot::operator=(), and vpRobot::setMaxTranslationVelocity().
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Definition at line 99 of file vpRobot.h.
Referenced by vpRobotFlirPtu::init(), vpRobotKinova::init(), and vpRobotTemplate::init().
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number of degrees of freedom
Definition at line 104 of file vpRobot.h.
Referenced by get_eJe(), get_fJe(), vpRobotKinova::getJointPosition(), getPosition(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotUniversalRobots::init(), vpRobotTemplate::init(), vpRobot::operator=(), vpRobotUniversalRobots::readPosFile(), vpRobotKinova::setDoF(), vpRobotKinova::setJointVelocity(), vpRobotKinova::setPosition(), setPosition(), setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotKinova::setVelocity(), vpRobotTemplate::setVelocity(), and vpRobotPololuPtu().
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Definition at line 116 of file vpRobot.h.
Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().
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Definition at line 115 of file vpRobot.h.
Referenced by vpRobot::operator=(), and vpRobot::~vpRobot().
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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().