Visual Servoing Platform  version 3.4.1 under development (2021-09-25)
vpRobotAfma6.h
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30  *
31  * Description:
32  * Interface for the Irisa's Afma6 robot controlled by an Adept MotionBlox.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpRobotAfma6_h
40 #define vpRobotAfma6_h
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #ifdef VISP_HAVE_AFMA6
45 
46 #include <iostream>
47 #include <stdio.h>
48 
49 #include <visp3/core/vpColVector.h>
50 #include <visp3/core/vpDebug.h>
51 #include <visp3/core/vpPoseVector.h>
52 #include <visp3/robot/vpAfma6.h>
53 #include <visp3/robot/vpRobot.h>
54 
55 // low level controller api
56 extern "C" {
57 #include "irisa_Afma6.h"
58 #include "trycatch.h"
59 }
60 
211 class VISP_EXPORT vpRobotAfma6 : public vpAfma6, public vpRobot
212 {
213 
214 private: /* Not allowed functions. */
218  vpRobotAfma6(const vpRobotAfma6 &robot);
219 
220 private: /* Attributs prives. */
230  static bool robotAlreadyCreated;
231 
232  double positioningVelocity;
233 
234  // Variables used to compute the measured velocities (see getVelocity() )
235  vpColVector q_prev_getvel;
236  vpHomogeneousMatrix fMc_prev_getvel;
237  double time_prev_getvel;
238  bool first_time_getvel;
239 
240  // Variables used to compute the measured displacement (see
241  // getDisplacement() )
242  vpColVector q_prev_getdis;
243  bool first_time_getdis;
244  vpHomogeneousMatrix fMc_prev_getdis;
245 
246 public: /* Constantes */
247  /* Vitesse maximale par default lors du positionnement du robot.
248  * C'est la valeur a la construction de l'attribut prive \a
249  * positioningVelocity. Cette valeur peut etre changee par la fonction
250  * #setPositioningVelocity.
251  */
252  static const double defaultPositioningVelocity; // = 20.0;
253 
254 public: /* Methode publiques */
255  explicit vpRobotAfma6(bool verbose = true);
256  virtual ~vpRobotAfma6(void);
257 
258  bool checkJointLimits(vpColVector &jointsStatus);
259 
260  void closeGripper();
261 
262  void getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &displacement);
263 
264  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
265  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
266  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
267  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
268 
269  double getPositioningVelocity(void);
270  bool getPowerState();
271  double getTime() const;
272 
273  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
274  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
275 
276  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
277  vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
278 
279  void get_cMe(vpHomogeneousMatrix &_cMe) const;
280  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
281  void get_eJe(vpMatrix &_eJe);
282  void get_fJe(vpMatrix &_fJe);
283 
284  void init(void);
285  void init(vpAfma6::vpAfma6ToolType tool, const vpHomogeneousMatrix &eMc);
286  void init(vpAfma6::vpAfma6ToolType tool, const std::string &filename);
287  void
290 
291  void move(const std::string &filename);
292  void move(const std::string &filename, double velocity);
293 
294  void openGripper();
295 
296  void powerOn();
297  void powerOff();
298 
299  static bool readPosFile(const std::string &filename, vpColVector &q);
300  static bool savePosFile(const std::string &filename, const vpColVector &q);
301 
302  /* --- POSITIONNEMENT --------------------------------------------------- */
303  void setPosition(const vpRobot::vpControlFrameType frame, const vpPoseVector &pose);
304  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
305  void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3,
306  double pos4, double pos5, double pos6);
307  void setPosition(const std::string &filename);
308  void setPositioningVelocity(double velocity);
309  void set_eMc(const vpHomogeneousMatrix &eMc);
310 
311  /* --- ETAT ------------------------------------------------------------- */
312 
314 
315  /* --- VITESSE ---------------------------------------------------------- */
316 
317  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
318 
319  void stopMotion();
320 };
321 
322 #endif
323 #endif /* #ifndef vpRobotAfma6_h */
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
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpAfma6.cpp:910
vpAfma6ToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpAfma6.h:126
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Class that defines a generic virtual robot.
Definition: vpRobot.h:58
vpControlFrameType
Definition: vpRobot.h:75
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
Control of Irisa&#39;s gantry robot named Afma6.
Definition: vpRobotAfma6.h:211
vpRobotStateType
Definition: vpRobot.h:64
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpAfma6.cpp:932
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpAfma6.cpp:1002
virtual void set_eMc(const vpHomogeneousMatrix &eMc)
Definition: vpAfma6.cpp:1187
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpAfma6.cpp:888
void init(void)
Definition: vpAfma6.cpp:160
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
static const double defaultPositioningVelocity
Definition: vpRobotAfma6.h:252