#include <visp3/robot/vpRobotPololuPtu.h>

Inheritance diagram for vpRobotPololuPtu:

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

Detailed Description

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			$\alpha_i$	$\theta_i$
1	0	0	$\pi/2$
2	0	0	$-\pi/2$	$q_2 - \pi/2$

Examples: servoPololuPtuPoint2DJointVelocity.cpp.

Definition at line 63 of file vpRobotPololuPtu.h.

Member Enumeration Documentation

◆ vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
REFERENCE_FRAME	Corresponds to a fixed reference frame attached to the robot structure.
ARTICULAR_FRAME	Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE.
JOINT_STATE	Corresponds to the joint state.
END_EFFECTOR_FRAME	Corresponds to robot end-effector frame.
CAMERA_FRAME	Corresponds to a frame attached to the camera mounted on the robot end-effector.
TOOL_FRAME	Corresponds to a frame attached to the tool (camera, gripper...) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME.
MIXT_FRAME	Corresponds to a "virtual" frame where translations are expressed in the reference frame, and rotations in the camera frame.

Definition at line 74 of file vpRobot.h.

◆ vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 62 of file vpRobot.h.

Constructor & Destructor Documentation

◆ vpRobotPololuPtu()

vpRobotPololuPtu::vpRobotPololuPtu	(	const std::string &	device = `"/dev/ttyACM0"`,
		int	baudrate = `9600`,
		bool	verbose = `false`
	)

Default constructor.

Parameters

[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 43 of file vpRobotPololuPtu.cpp.

References vpPololu::connect(), vpRobot::nDof, vpMath::rad(), vpPololu::setAngularRange(), vpPololu::setPwmRange(), and vpPololu::setVerbose().

◆ ~vpRobotPololuPtu()

vpRobotPololuPtu::~vpRobotPololuPtu ( )

Destructor that stops the movements.

Definition at line 58 of file vpRobotPololuPtu.cpp.

References vpPololu::stopVelocityCmd().

Member Function Documentation

◆ get_eJe() [1/2]

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

Get the robot jacobian expressed in the end-effector frame.

Warning: End-effector frame is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters

[in]	q	: Joint positions to consider [rad].
[out]	eJe	: Jacobian between end effector frame and end effector frame (on tilt axis).

Definition at line 80 of file vpRobotPololuPtu.cpp.

References vpException::dimensionError, vpRobot::eJe, vpRobot::nDof, vpArray2D< Type >::resize(), and vpArray2D< Type >::size().

◆ get_eJe() [2/2]

void vpRobotPololuPtu::get_eJe ( vpMatrix & eJe )

virtual

Get the robot jacobian expressed in the end-effector frame.

Warning: End-effector frame is not the embedded camera frame. It corresponds to the frame associated to the tilt axis (see also get_cMe).

Parameters

[out] eJe : Jacobian between end effector frame and end effector frame (on tilt axis).

Implements vpRobot.

Definition at line 64 of file vpRobotPololuPtu.cpp.

References vpRobot::eJe, getPosition(), vpRobot::JOINT_STATE, and vpRobot::nDof.

◆ get_fJe() [1/2]

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

Get the robot jacobian expressed in the robot reference frame.

Parameters

[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 98 of file vpRobotPololuPtu.cpp.

References vpException::dimensionError, vpRobot::fJe, vpRobot::nDof, vpArray2D< Type >::resize(), and vpArray2D< Type >::size().

◆ get_fJe() [2/2]

void vpRobotPololuPtu::get_fJe ( vpMatrix & fJe )

virtual

Get the robot jacobian expressed in the robot reference frame.

Parameters

[out] fJe : Jacobian between reference frame (or fix frame) and end effector frame (on tilt axis).

Implements vpRobot.

Definition at line 72 of file vpRobotPololuPtu.cpp.

References vpRobot::fJe, getPosition(), vpRobot::JOINT_STATE, and vpRobot::nDof.

◆ getAngularVelocityResolution()

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 116 of file vpRobotPololuPtu.cpp.

References vpPololu::speedToRadS().

◆ getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void ) const

inherited

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

Returns: Maximum rotation velocity expressed in rad/s.

Definition at line 270 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), setPosition(), setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void ) const

inherited

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

Returns: Maximum translational velocity expressed in m/s.

Definition at line 248 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

◆ getNDof()

int vpRobot::getNDof ( ) const

inlineinherited

Return robot degrees of freedom number.

Examples: servoPololuPtuPoint2DJointVelocity.cpp.

Definition at line 143 of file vpRobot.h.

◆ getPosition() [1/2]

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

inherited

Return the current robot position in the specified frame.

Definition at line 213 of file vpRobot.cpp.

References vpRobot::getPosition().

◆ getPosition() [2/2]

void vpRobotPololuPtu::getPosition	(	const vpRobot::vpControlFrameType	frame,
		vpColVector &	q
	)

virtual

Return the position of each joint.

Parameters

[in]	frame	: Control frame. This PTU can only be controlled in joint state.
[out]	q	: The position of the joints in radians.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Implements vpRobot.

Definition at line 265 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.

Referenced by get_eJe(), and get_fJe().

◆ getPositioningVelocityPercentage()

float vpRobotPololuPtu::getPositioningVelocityPercentage ( ) const

inline

Get the percentage of the maximum velocity applied to move the PTU in position.

Returns: Positioning velocity percentage in [0, 100.0]. The maximum positioning velocity is given vpRobot::getMaxRotationVelocity().

See also: setPositioningVelocityPercentage()

Definition at line 149 of file vpRobotPololuPtu.h.

◆ getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void ) const

inlineprotectedinherited

Definition at line 181 of file vpRobot.h.

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

◆ getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void ) const

inlinevirtualinherited

Definition at line 153 of file vpRobot.h.

Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), vpRobotCamera::setPosition(), vpSimulatorCamera::setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotFranka::setPosition(), vpRobotUniversalRobots::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotBiclops::setPosition(), setPosition(), vpRobotPtu46::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpRobotBiclops::setRobotState(), setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotBiclops::setVelocity(), setVelocity(), vpRobotPtu46::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), vpRobotViper850::setVelocity(), vpSimulatorAfma6::setVelocity(), vpSimulatorViper850::setVelocity(), vpRobotFlirPtu::stopMotion(), vpRobotFranka::stopMotion(), vpRobotViper650::stopMotion(), vpRobotViper850::stopMotion(), vpSimulatorAfma6::stopMotion(), and vpSimulatorViper850::stopMotion().

◆ saturateVelocities()

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

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns: Saturated velocities.

Exceptions

vpRobotException::dimensionError : If the input vectors have different dimensions.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>
 
#include <visp3/robot/vpRobot.h>
 
int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz
 
  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)
 
  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
 
  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;
 
  return 0;
}

Definition at line 160 of file vpRobot.cpp.

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

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

◆ setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double w_max )

inherited

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

Parameters

w_max : Maximum rotational velocity expressed in rad/s.

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

Definition at line 257 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

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

◆ setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double v_max )

inherited

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

Parameters

v_max : Maximum translation velocity expressed in m/s.

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

Definition at line 236 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition().

◆ setPosition()

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

virtual

Move the robot to a given joint position.

Warning: This method is blocking. That mean that it waits the end of the positioning.

Parameters

[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.

Exceptions

vpRobotException::wrongStateError : If a not supported frame type is given.

Implements vpRobot.

Definition at line 121 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.

◆ setPositioningVelocityPercentage()

void vpRobotPololuPtu::setPositioningVelocityPercentage ( float positioning_velocity_percentage )

inline

Set the percentage of the maximum velocity applied to move the PTU in position.

Parameters

[in] positioning_velocity_percentage : Percentage between [0,100] of the maximum velocity. The maximum positioning velocity is given vpRobot::getMaxRotationVelocity().

See also: getPositioningVelocityPercentage()

Definition at line 178 of file vpRobotPololuPtu.h.

◆ setRobotFrame()

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

protectedinherited

Definition at line 204 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorCamera::setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpSimulatorAfma6::setVelocity(), and vpSimulatorViper850::setVelocity().

◆ setRobotState()

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

virtual

Change the state of the robot either to stop them, or to set position or speed control.

Reimplemented from vpRobot.

Definition at line 233 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().

◆ setVelocity()

void vpRobotPololuPtu::setVelocity	(	const vpRobot::vpControlFrameType	frame,
		const vpColVector &	q_dot
	)

virtual

Send a velocity on each axis.

Parameters

[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. $\dot {r} = [\dot{q}_1, \dot{q}_2]^t$ with $\dot{q}_1$ the pan of the camera and $\dot{q}_2$ the tilt of the camera.

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().
vpRobotException::wrongStateError	: If a not supported frame type (vpRobot::CAMERA_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::END_EFFECTOR_FRAME or vpRobot::MIXT_FRAME) is given.

Warning: Velocities could be saturated if one of them exceed the maximal authorized speed (see vpRobot::maxRotationVelocity).

Implements vpRobot.

Definition at line 158 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(), vpERROR_TRACE, and vpRobotException::wrongStateError.

◆ setVerbose()

void vpRobotPololuPtu::setVerbose ( bool verbose )

inline

Enable/disable verbose mode.

Parameters

[in] verbose : Set to true to enable verbose mode, false otherwise.

Definition at line 188 of file vpRobotPololuPtu.h.

◆ stopVelocity()

void vpRobotPololuPtu::stopVelocity ( )

Stop the velocity command.

Definition at line 259 of file vpRobotPololuPtu.cpp.

References vpPololu::stopVelocityCmd().

Referenced by setRobotState().

Member Data Documentation

◆ areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 112 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 104 of file vpRobot.h.

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

◆ eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

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

Definition at line 106 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 108 of file vpRobot.h.

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

◆ fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 110 of file vpRobot.h.

Referenced by vpRobot::operator=().

◆ maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 98 of file vpRobot.h.

Referenced by vpRobot::getMaxRotationVelocity(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotTemplate::init(), vpRobot::operator=(), vpRobot::setMaxRotationVelocity(), vpRobotPtu46::setVelocity(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

◆ maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 99 of file vpRobot.h.

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

◆ maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 96 of file vpRobot.h.

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

◆ maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 97 of file vpRobot.h.

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

◆ nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 102 of file vpRobot.h.

Referenced by 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().

◆ qmax

double* vpRobot::qmax

protectedinherited

Definition at line 114 of file vpRobot.h.

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

◆ qmin

double* vpRobot::qmin

protectedinherited

Definition at line 113 of file vpRobot.h.

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

◆ verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 116 of file vpRobot.h.

Referenced by vpRobotAfma4::init(), vpRobotAfma6::init(), vpRobotViper650::init(), vpRobotViper850::init(), vpRobot::operator=(), vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().

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

◆ vpRobotPololuPtu()

◆ ~vpRobotPololuPtu()

Member Function Documentation

◆ get_eJe() [1/2]

◆ get_eJe() [2/2]

◆ get_fJe() [1/2]

◆ get_fJe() [2/2]

◆ getAngularVelocityResolution()

◆ getMaxRotationVelocity()

◆ getMaxTranslationVelocity()

◆ getNDof()

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getPositioningVelocityPercentage()

◆ getRobotFrame()

◆ getRobotState()

◆ saturateVelocities()

◆ setMaxRotationVelocity()

◆ setMaxTranslationVelocity()

◆ setPosition()

◆ setPositioningVelocityPercentage()

◆ setRobotFrame()

◆ setRobotState()

◆ setVelocity()

◆ setVerbose()

◆ stopVelocity()

Member Data Documentation

◆ areJointLimitsAvailable

◆ eJe

◆ eJeAvailable

◆ fJe

◆ fJeAvailable

◆ maxRotationVelocity

◆ maxRotationVelocityDefault

◆ maxTranslationVelocity

◆ maxTranslationVelocityDefault

◆ nDof

◆ qmax

◆ qmin

◆ verbose_