vpRobotTemplate Class Reference

#include <visp3/robot/vpRobotTemplate.h>

Inheritance diagram for vpRobotTemplate:

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
	vpRobotTemplate ()
virtual	~vpRobotTemplate ()
void	get_eJe (vpMatrix &eJe_)
void	get_fJe (vpMatrix &fJe_)
vpHomogeneousMatrix	get_eMc () const
void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)
void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)
void	set_eMc (vpHomogeneousMatrix &eMc)
void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)
void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Inherited functionalities from vpRobot
double	getMaxTranslationVelocity (void) const
double	getMaxRotationVelocity (void) const
vpColVector	getPosition (const vpRobot::vpControlFrameType frame)
virtual vpRobotStateType	getRobotState (void) const
void	setMaxRotationVelocity (double maxVr)
void	setMaxTranslationVelocity (double maxVt)
virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)
void	setVerbose (bool verbose)

Static Public Member Functions
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Protected Member Functions
void	init ()
void	getJointPosition (vpColVector &q)
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
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

Class that defines a robot just to show which function you must implement.

Definition at line 60 of file vpRobotTemplate.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 65 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobotTemplate()

vpRobotTemplate::vpRobotTemplate

(

)

Default constructor.

Definition at line 69 of file vpRobotTemplate.cpp.

References init().

~vpRobotTemplate()

vpRobotTemplate::~vpRobotTemplate ( )

virtual

Destructor.

Definition at line 74 of file vpRobotTemplate.cpp.

Member Function Documentation

get_eJe()

void vpRobotTemplate::get_eJe ( vpMatrix &  eJe_ )

virtual

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

Parameters

[out]

eJe_

: End-effector frame Jacobian.

Implements vpRobot.

Definition at line 90 of file vpRobotTemplate.cpp.

get_eMc()

vpHomogeneousMatrix vpRobotTemplate::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 73 of file vpRobotTemplate.h.

get_fJe()

void vpRobotTemplate::get_fJe ( vpMatrix &  fJe_ )

virtual

Get the robot Jacobian expressed in the robot reference frame.

Parameters

[out]

fJe_

: Base (or reference) frame Jacobian.

Implements vpRobot.

Definition at line 101 of file vpRobotTemplate.cpp.

getDisplacement()

void vpRobotTemplate::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 307 of file vpRobotTemplate.cpp.

getJointPosition()

void vpRobotTemplate::getJointPosition ( vpColVector &  q )

protected

Get robot joint positions.

Parameters

[in]

q

: Joint velocities in rad/s.

Definition at line 267 of file vpRobotTemplate.cpp.

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 273 of file vpRobot.cpp.

References vpRobot::maxRotationVelocity.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorViper850::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), 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 251 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

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

getPosition() [1/2]

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

inherited

Return the current robot position in the specified frame.

Definition at line 216 of file vpRobot.cpp.

References vpRobot::getPosition().

getPosition() [2/2]

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

virtual

Get robot position.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[out]	q	: Position of the arm.

Implements vpRobot.

Definition at line 279 of file vpRobotTemplate.cpp.

References getJointPosition(), and vpRobot::JOINT_STATE.

getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void  ) const

inlineprotectedinherited

Definition at line 173 of file vpRobot.h.

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

getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void  ) const

inlinevirtualinherited

Definition at line 145 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(), vpRobotPtu46::setPosition(), vpSimulatorAfma6::setPosition(), vpSimulatorViper850::setPosition(), vpRobotBiclops::setRobotState(), vpSimulatorAfma6::setRobotState(), vpSimulatorViper850::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotBiclops::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotCamera::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), 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().

init()

void vpRobotTemplate::init ( void  )

protectedvirtual

Basic initialization.

Implements vpRobot.

Definition at line 54 of file vpRobotTemplate.cpp.

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

Referenced by vpRobotTemplate().

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 163 of file vpRobot.cpp.

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

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

set_eMc()

void vpRobotTemplate::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 82 of file vpRobotTemplate.h.

setCartVelocity()

void vpRobotTemplate::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 (either tool frame or end-effector) in which the velocity v is expressed. Units are m/s for translation and rad/s for rotation velocities.
[in]	v	: 6-dim vector that contains the 6 components of the velocity twist to send to the robot. Units are m/s and rad/s.

Definition at line 124 of file vpRobotTemplate.cpp.

References vpRobot::END_EFFECTOR_FRAME, vpException::fatalError, vpRobot::JOINT_STATE, m_eMc, vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpArray2D< Type >::size(), and vpRobot::TOOL_FRAME.

Referenced by setVelocity().

setJointVelocity()

void vpRobotTemplate::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.

Definition at line 186 of file vpRobotTemplate.cpp.

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 260 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 239 of file vpRobot.cpp.

References vpRobot::maxTranslationVelocity.

Referenced by vpSimulatorAfma6::setPosition().

setPosition()

void vpRobotTemplate::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 294 of file vpRobotTemplate.cpp.

setRobotFrame()

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

protectedinherited

Definition at line 207 of file vpRobot.cpp.

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

setRobotState()

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

virtualinherited

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

Examples

UniversalRobotsMoveToPosition.cpp, UniversalRobotsSavePosition.cpp, frankaMoveToPosition.cpp, frankaSavePosition.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoKinovaJacoCart.cpp, servoKinovaJacoJoint.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 201 of file vpRobot.cpp.

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

setVelocity()

void vpRobotTemplate::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. Velocities could be joint velocities, or cartesian velocities. Units are m/s for translation and rad/s for rotation velocities.
[in]	vel	: Vector that contains the velocity to apply to the robot.

Implements vpRobot.

Definition at line 204 of file vpRobotTemplate.cpp.

References vpException::dimensionError, vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpRobot::JOINT_STATE, 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 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 160 of file vpRobot.h.

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

Member Data Documentation

areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 113 of file vpRobot.h.

Referenced by vpRobot::operator=().

eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 105 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_eJe(), vpRobotAfma6::get_eJe(), vpRobotPtu46::get_eJe(), vpRobotAfma4::get_eJe(), vpRobotCamera::get_eJe(), vpRobotKinova::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 107 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 109 of file vpRobot.h.

Referenced by vpRobotFlirPtu::get_fJe(), vpRobotAfma6::get_fJe(), vpRobotPtu46::get_fJe(), vpRobotAfma4::get_fJe(), vpRobotKinova::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 111 of file vpRobot.h.

Referenced by vpRobot::operator=().

m_eMc

vpHomogeneousMatrix vpRobotTemplate::m_eMc

protected

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

Definition at line 93 of file vpRobotTemplate.h.

Referenced by setCartVelocity().

maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 99 of file vpRobot.h.

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

maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 100 of file vpRobot.h.

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

maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 97 of file vpRobot.h.

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

maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 98 of file vpRobot.h.

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

nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 103 of file vpRobot.h.

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

qmax

double* vpRobot::qmax

protectedinherited

Definition at line 115 of file vpRobot.h.

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

qmin

double* vpRobot::qmin

protectedinherited

Definition at line 114 of file vpRobot.h.

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

verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 117 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().