Visual Servoing Platform  version 3.4.1 under development (2021-09-25)
vpRobotBiclops.h
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Biclops robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpRobotBiclops_h_
40 #define _vpRobotBiclops_h_
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #ifdef VISP_HAVE_BICLOPS
45 
46 /* ------------------------------------------------------------------------ */
47 /* --- INCLUDES ----------------------------------------------------------- */
48 /* ------------------------------------------------------------------------ */
49 
50 /* --- GENERAL --- */
51 #include <iostream>
52 #include <pthread.h>
53 #include <stdio.h>
54 
55 /* --- ViSP --- */
56 #include <visp3/core/vpColVector.h>
57 #include <visp3/core/vpVelocityTwistMatrix.h>
58 #include <visp3/robot/vpBiclops.h>
59 #include <visp3/robot/vpRobot.h>
60 #include <visp3/robot/vpRobotBiclopsController.h>
61 
62 /* ------------------------------------------------------------------------ */
63 /* --- CLASS -------------------------------------------------------------- */
64 /* ------------------------------------------------------------------------ */
65 
94 class VISP_EXPORT vpRobotBiclops : public vpBiclops, public vpRobot
95 {
96 public:
97  static const double defaultPositioningVelocity;
98 
100  explicit vpRobotBiclops(const std::string &filename);
101  virtual ~vpRobotBiclops();
102 
103  void init();
104 
105  void get_cMe(vpHomogeneousMatrix &_cMe) const;
106  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
107  void get_eJe(vpMatrix &_eJe);
108  void get_fJe(vpMatrix &_fJe);
109 
112  double getPositioningVelocity(void);
113  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
114  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
115 
116  bool readPositionFile(const std::string &filename, vpColVector &q);
117 
118  void setConfigFile(const std::string &filename = "/usr/share/BiclopsDefault.cfg");
119  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
120  void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
121  void setPosition(const char *filename);
122  void setPositioningVelocity(double velocity);
124  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot);
125 
126  void stopMotion();
127 
128  static void *vpRobotBiclopsSpeedControlLoop(void *arg);
129 
130 private:
131  static bool robotAlreadyCreated;
132  pthread_t control_thread;
133 
134  std::string configfile; // Biclops config file
135 
136  vpRobotBiclopsController controller;
137 
138  double positioningVelocity;
139  vpColVector q_previous;
140  bool controlThreadCreated;
141 
142  // private:
143  //#ifndef DOXYGEN_SHOULD_SKIP_THIS
144  // /*! \brief No copy constructor allowed. */
145  // vpRobotBiclops(const vpRobotBiclops &)
146  // : vpBiclops(), vpRobot(), control_thread(), controller(),
147  // positioningVelocity(0), q_previous(), controlThreadCreated(false)
148  // {
149  // throw vpException(vpException::functionNotImplementedError, "Not
150  // implemented!");
151  // }
152  // vpRobotBiclops &operator=(const vpRobotBiclops &){
153  // throw vpException(vpException::functionNotImplementedError, "Not
154  // implemented!"); return *this;
155  // }
156  //#endif
157 };
158 
159 #endif /* #ifndef _vpRobotBiclops_h_ */
160 
161 #endif
Jacobian, geometric model functionnalities... for biclops, pan, tilt head.
Definition: vpBiclops.h:77
vpHomogeneousMatrix get_cMe() const
Definition: vpBiclops.h:157
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_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpBiclops.cpp:360
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
static const double defaultPositioningVelocity
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
vpRobotStateType
Definition: vpRobot.h:64
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Interface for the biclops, pan, tilt head control.
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Definition: vpBiclops.cpp:312
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void init(void)
Definition: vpBiclops.cpp:282
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpBiclops.cpp:394
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0