Visual Servoing Platform
version 3.6.1 under development (2024-11-21)
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#include <visp3/robot/vpSimulatorCamera.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 | |
vpSimulatorCamera () | |
Inherited functionalities from vpRobotSimulator | |
double | getSamplingTime () const |
virtual void | setSamplingTime (const double &delta_t) |
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) |
void | setVerbose (bool verbose) |
Static Public Member Functions | |
Static Public Member Functions inherited from vpRobot | |
static vpColVector | saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false) |
Protected Member Functions | |
Protected Member Functions Inherited from vpRobot | |
vpControlFrameType | setRobotFrame (vpRobot::vpControlFrameType newFrame) |
vpControlFrameType | getRobotFrame (void) const |
Protected Attributes | |
vpHomogeneousMatrix | wMc_ |
double | delta_t_ |
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 |
Inherited functionalities from vpSimulatorCamera | |
void | get_cVe (vpVelocityTwistMatrix &cVe) const |
void | get_eJe (vpMatrix &eJe) VP_OVERRIDE |
vpHomogeneousMatrix | getPosition () const |
void | getPosition (vpHomogeneousMatrix &wMc) const |
void | getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q) VP_OVERRIDE |
void | setPosition (const vpHomogeneousMatrix &wMc) |
void | setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel) VP_OVERRIDE |
Class that defines the simplest robot: a free flying camera.
This free flying camera has 6 dof; 3 in translation and 3 in rotation. It evolves as a gentry robot with respect to a world frame. This class is similar to vpRobotCamera class except that here the position of the robot is provided as the transformation from world frame to camera frame; wMc. This representation is more intuitive than the one implemented in vpRobotCamera where the transformation from camera to world frame is considered; cMw.
For this particular simulated robot, the end-effector and camera frame are confused. That means that the cMe transformation is equal to identity.
The robot jacobian expressed in the end-effector frame is also set to identity (see get_eJe()).
The following code shows how to control this robot in position and velocity.
To know how this class can be used to achieve a visual servoing simulation, you can follow the Tutorial: Image-based visual servo.
Definition at line 108 of file vpSimulatorCamera.h.
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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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Robot control states.
BEGIN_VISP_NAMESPACE vpSimulatorCamera::vpSimulatorCamera | ( | ) |
Default constructor that sets the transformation between world frame and camera frame to identity.
Definition at line 53 of file vpSimulatorCamera.cpp.
void vpSimulatorCamera::get_cVe | ( | vpVelocityTwistMatrix & | cVe | ) | const |
Get the twist transformation from camera frame to end-effector frame. This transformation allows to compute a velocity expressed in the end-effector frame into the camera frame.
cVe | : Twist transformation. Here this transformation is equal to identity since camera frame and end-effector frame are at the same location. |
Definition at line 86 of file vpSimulatorCamera.cpp.
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virtual |
Get the robot jacobian expressed in the end-effector frame. For that simple robot the Jacobian is the identity.
eJe_ | : A 6 by 6 matrix representing the robot jacobian expressed in the end-effector frame. Yhis matrix is equal to identity. |
Implements vpRobot.
Definition at line 100 of file vpSimulatorCamera.cpp.
References vpRobot::eJe.
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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 vpRobotPololuPtu::setPosition(), vpRobotPololuPtu::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotPioneer::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), 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(), setVelocity(), vpSimulatorPioneer::setVelocity(), vpSimulatorPioneerPan::setVelocity(), vpRobotAfma4::setVelocity(), vpRobotAfma6::setVelocity(), vpRobotViper650::setVelocity(), and vpRobotViper850::setVelocity().
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Return robot degrees of freedom number.
vpHomogeneousMatrix vpSimulatorCamera::getPosition | ( | ) | const |
Return the camera position in the world frame.
Definition at line 111 of file vpSimulatorCamera.cpp.
References wMc_.
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Return the current robot position in the specified frame.
Definition at line 217 of file vpRobot.cpp.
References vpRobot::getPosition().
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Get the robot position (frame has to be specified).
Implements vpRobot.
Definition at line 134 of file vpSimulatorCamera.cpp.
References vpRobot::ARTICULAR_FRAME, vpRxyzVector::buildFrom(), vpRobot::CAMERA_FRAME, vpRobot::END_EFFECTOR_FRAME, vpHomogeneousMatrix::extract(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpColVector::resize(), and wMc_.
void vpSimulatorCamera::getPosition | ( | vpHomogeneousMatrix & | wMc | ) | const |
Get the camera position in the world frame.
Definition at line 106 of file vpSimulatorCamera.cpp.
References wMc_.
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Definition at line 155 of file vpRobot.h.
Referenced by vpRobotBiclops::getPosition(), vpRobotBiclops::getVelocity(), setPosition(), vpRobotAfma4::setPosition(), vpRobotAfma6::setPosition(), vpRobotFranka::setPosition(), vpRobotUniversalRobots::setPosition(), vpRobotViper650::setPosition(), vpRobotViper850::setPosition(), vpRobotBiclops::setPosition(), vpRobotPololuPtu::setPosition(), vpRobotPtu46::setPosition(), vpRobotBiclops::setRobotState(), vpRobotPololuPtu::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), vpRobotBiclops::setVelocity(), vpRobotPololuPtu::setVelocity(), vpRobotPtu46::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotFranka::setVelocity(), vpRobotKinova::setVelocity(), vpRobotTemplate::setVelocity(), vpRobotUniversalRobots::setVelocity(), 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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inlineinherited |
Return the sampling time.
Definition at line 73 of file vpRobotSimulator.h.
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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(), 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.
void vpSimulatorCamera::setPosition | ( | const vpHomogeneousMatrix & | wMc | ) |
Set the robot position in the world frame.
wMc | : Transformation from world frame to camera frame. |
Definition at line 234 of file vpSimulatorCamera.cpp.
References vpRobot::getRobotState(), vpRobot::setRobotState(), vpRobot::STATE_POSITION_CONTROL, and wMc_.
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Definition at line 208 of file vpRobot.cpp.
Referenced by setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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virtualinherited |
Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotUniversalRobots, vpRobotPtu46, vpRobotFranka, vpRobotFlirPtu, vpRobotAfma6, vpRobotAfma4, vpRobotPololuPtu, and vpRobotBiclops.
Definition at line 202 of file vpRobot.cpp.
Referenced by setPosition(), vpRobotBiclops::setRobotState(), vpRobotPololuPtu::setRobotState(), vpRobotAfma4::setRobotState(), vpRobotAfma6::setRobotState(), vpRobotFlirPtu::setRobotState(), vpRobotFranka::setRobotState(), vpRobotPtu46::setRobotState(), vpRobotUniversalRobots::setRobotState(), vpRobotViper650::setRobotState(), vpRobotViper850::setRobotState(), setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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Set the sampling time.
delta_t | : Sampling time in second used to compute the robot displacement from the velocity applied to the robot during this time. |
Definition at line 81 of file vpRobotSimulator.h.
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Send to the controller a velocity.
frame | : Control frame type. Only articular (vpRobot::ARTICULAR_FRAME) and camera frame (vpRobot::CAMERA_FRAME) are implemented. |
v | : Velocity twist to apply to the robot. |
Internally, the exponential map (vpExponentialMap) is used to update the camera position from its velocity after applying the velocity during a sampling time. This sampling time can be set using setSamplingTime().
Implements vpRobot.
Definition at line 190 of file vpSimulatorCamera.cpp.
References vpRobot::ARTICULAR_FRAME, vpRobot::CAMERA_FRAME, vpRobotSimulator::delta_t_, vpExponentialMap::direct(), vpRobot::END_EFFECTOR_FRAME, vpRobot::getMaxRotationVelocity(), vpRobot::getMaxTranslationVelocity(), vpRobot::getRobotState(), vpRobot::MIXT_FRAME, vpRobot::REFERENCE_FRAME, vpRobot::saturateVelocities(), vpRobot::setRobotFrame(), vpRobot::setRobotState(), vpRobot::STATE_VELOCITY_CONTROL, wMc_, and vpRobotException::wrongStateError.
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Definition at line 170 of file vpRobot.h.
Referenced by vpRobotAfma4::vpRobotAfma4(), vpRobotAfma6::vpRobotAfma6(), vpRobotViper650::vpRobotViper650(), and vpRobotViper850::vpRobotViper850().
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Definition at line 114 of file vpRobot.h.
Referenced by vpRobot::operator=().
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Definition at line 60 of file vpRobotSimulator.h.
Referenced by setVelocity(), vpSimulatorPioneer::setVelocity(), and vpSimulatorPioneerPan::setVelocity().
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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(), vpRobotPololuPtu::get_eJe(), vpRobotViper650::get_eJe(), vpRobotViper850::get_eJe(), 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(), vpRobotPololuPtu::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 vpRobotPololuPtu::get_eJe(), vpRobotPololuPtu::get_fJe(), vpRobotKinova::getJointPosition(), vpRobotPololuPtu::getPosition(), vpRobotFlirPtu::init(), vpRobotKinova::init(), vpRobotUniversalRobots::init(), vpRobotTemplate::init(), vpRobot::operator=(), vpRobotUniversalRobots::readPosFile(), vpRobotKinova::setDoF(), vpRobotKinova::setJointVelocity(), vpRobotKinova::setPosition(), vpRobotPololuPtu::setPosition(), vpRobotPololuPtu::setVelocity(), vpRobotFlirPtu::setVelocity(), vpRobotKinova::setVelocity(), vpRobotTemplate::setVelocity(), and vpRobotPololuPtu::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().
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Definition at line 111 of file vpSimulatorCamera.h.
Referenced by getPosition(), setPosition(), and setVelocity().