Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpAfma6.h
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30  *
31  * Description:
32  * Interface for the Irisa's Afma6 robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpAfma6_h
40 #define _vpAfma6_h
41 
72 #include <visp3/core/vpCameraParameters.h>
73 #include <visp3/core/vpHomogeneousMatrix.h>
74 #include <visp3/core/vpImage.h>
75 #include <visp3/core/vpRGBa.h>
76 #include <visp3/core/vpVelocityTwistMatrix.h>
77 
78 class VISP_EXPORT vpAfma6
79 {
80 public:
81 #ifdef VISP_HAVE_AFMA6_DATA
82  static const std::string CONST_AFMA6_FILENAME;
87  static const std::string CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME;
96  static const std::string CONST_CAMERA_AFMA6_FILENAME;
97 #endif
98 
102  static const char *const CONST_CCMOP_CAMERA_NAME;
107  static const char *const CONST_GRIPPER_CAMERA_NAME;
112  static const char *const CONST_VACUUM_CAMERA_NAME;
117  static const char *const CONST_GENERIC_CAMERA_NAME;
118 
123  static const char *const CONST_INTEL_D435_CAMERA_NAME;
124 
126  typedef enum {
132  TOOL_CUSTOM
133  } vpAfma6ToolType;
134 
136  static const vpAfma6ToolType defaultTool;
137 
138 public:
139  vpAfma6();
141  virtual ~vpAfma6(){};
142 
145  void init(void);
146  void init(const std::string &camera_extrinsic_parameters);
147  void init(const std::string &camera_extrinsic_parameters, const std::string &camera_intrinsic_parameters);
148  void init(vpAfma6::vpAfma6ToolType tool, const std::string &filename);
149  void init(vpAfma6::vpAfma6ToolType tool, const vpHomogeneousMatrix &eMc_);
150  void
151  init(vpAfma6::vpAfma6ToolType tool,
153 
154  vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
155  int getInverseKinematics(const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &nearest = true,
156  const bool &verbose = false) const;
157 
158  vpHomogeneousMatrix get_eMc() const;
159  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
160  void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
161  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
162 
163  void get_cMe(vpHomogeneousMatrix &cMe) const;
164  void get_cVe(vpVelocityTwistMatrix &cVe) const;
165  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
166  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
167 
169  vpAfma6ToolType getToolType() const { return tool_current; };
172 
173  void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
174  const unsigned int &image_height) const;
175  void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I) const;
176  void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I) const;
177 
178  vpColVector getJointMin() const;
179  vpColVector getJointMax() const;
180  double getCoupl56() const;
181  double getLong56() const;
182 
183  void parseConfigFile(const std::string &filename);
184 
185  virtual void set_eMc(const vpHomogeneousMatrix &eMc);
187 
188  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpAfma6 &afma6);
189 
190 protected:
193  void setToolType(vpAfma6::vpAfma6ToolType tool) { tool_current = tool; };
196 
197 public:
198  static const unsigned int njoint;
199 
200 protected:
201  double _coupl_56; // coupling between join 5 and 6
202  double _long_56; // distance between join 5 and 6
203  double _joint_max[6]; // Maximal value of the joints
204  double _joint_min[6]; // Minimal value of the joints
205  // Minimal representation of _eMc
207  vpRxyzVector _erc; // radian
208 
209  vpHomogeneousMatrix _eMc; // Camera extrinsic parameters: effector to camera
210 
211 protected:
213  vpAfma6ToolType tool_current;
214  // Used projection model
216 };
217 
218 #endif
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:94
Modelisation of Irisa&#39;s gantry robot named Afma6.
Definition: vpAfma6.h:78
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
vpRxyzVector _erc
Definition: vpAfma6.h:207
vpTranslationVector _etc
Definition: vpAfma6.h:206
static const std::string CONST_EMC_INTEL_D435_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:92
static const std::string CONST_EMC_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:88
vpCameraParameters::vpCameraParametersProjType getCameraParametersProjType() const
Get the current camera model projection type.
Definition: vpAfma6.h:171
Implementation of an homogeneous matrix and operations on such kind of matrices.
static const std::string CONST_EMC_CCMOP_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:87
double _coupl_56
Definition: vpAfma6.h:201
virtual ~vpAfma6()
Definition: vpAfma6.h:141
static const std::string CONST_CAMERA_AFMA6_FILENAME
Definition: vpAfma6.h:96
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpAfma6.h:126
vpCameraParameters::vpCameraParametersProjType projModel
Definition: vpAfma6.h:215
vpAfma6ToolType getToolType() const
Get the current tool type.
Definition: vpAfma6.h:169
static const std::string CONST_EMC_INTEL_D435_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:93
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:95
static const char *const CONST_GRIPPER_CAMERA_NAME
Definition: vpAfma6.h:107
static const vpAfma6ToolType defaultTool
Default tool attached to the robot end effector.
Definition: vpAfma6.h:136
static const std::string CONST_EMC_VACUUM_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:90
static const std::string CONST_EMC_VACUUM_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:91
Generic class defining intrinsic camera parameters.
vpAfma6ToolType tool_current
Current tool in use.
Definition: vpAfma6.h:213
static const std::string CONST_EMC_CCMOP_WITHOUT_DISTORTION_FILENAME
Definition: vpAfma6.h:86
double _long_56
Definition: vpAfma6.h:202
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
vpHomogeneousMatrix _eMc
Definition: vpAfma6.h:209
static const char *const CONST_INTEL_D435_CAMERA_NAME
Definition: vpAfma6.h:123
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
static const char *const CONST_CCMOP_CAMERA_NAME
Definition: vpAfma6.h:102
static const std::string CONST_EMC_GRIPPER_WITH_DISTORTION_FILENAME
Definition: vpAfma6.h:89
static const char *const CONST_VACUUM_CAMERA_NAME
Definition: vpAfma6.h:112
Class that consider the case of a translation vector.
static const char *const CONST_GENERIC_CAMERA_NAME
Definition: vpAfma6.h:117