Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
vpRobotCamera.cpp
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30  *
31  * Description:
32  * Defines the simplest robot : a free flying camera.
33  *
34 *****************************************************************************/
35 
41 #include <visp3/robot/vpRobotCamera.h>
42 
43 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
44 
45 #include <visp3/core/vpDebug.h>
46 #include <visp3/core/vpExponentialMap.h>
47 #include <visp3/core/vpHomogeneousMatrix.h>
48 #include <visp3/robot/vpRobotException.h>
49 
69 vpRobotCamera::vpRobotCamera() : cMw_() { init(); }
70 
78 void vpRobotCamera::init()
79 {
80  nDof = 6;
81  eJe.eye(6, 6);
82  eJeAvailable = true;
83  fJeAvailable = false;
85  qmin = nullptr;
86  qmax = nullptr;
87 
88  setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
89  setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
90 }
91 
103 {
105  cVe = cVe_;
106 }
107 
115 void vpRobotCamera::get_eJe(vpMatrix &eJe_) { eJe_ = this->eJe; }
116 
140 {
141  switch (frame) {
143  case vpRobot::CAMERA_FRAME: {
146  }
147 
148  vpColVector v_max(6);
149 
150  for (unsigned int i = 0; i < 3; i++)
151  v_max[i] = getMaxTranslationVelocity();
152  for (unsigned int i = 3; i < 6; i++)
153  v_max[i] = getMaxRotationVelocity();
154 
155  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
156 
157  this->cMw_ = vpExponentialMap::direct(v_sat, delta_t_).inverse() * this->cMw_;
158  break;
159  }
161  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the reference frame:"
162  "functionality not implemented");
163  break;
164  case vpRobot::MIXT_FRAME:
165  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the mixt frame:"
166  "functionality not implemented");
167 
168  break;
170  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the end-effector frame:"
171  "functionality not implemented");
172  break;
173  }
174 }
175 
180 void vpRobotCamera::getPosition(vpHomogeneousMatrix &cMw) const { cMw = this->cMw_; }
181 
182 /*
183  Get the current position of the robot.
184 
185  \param frame : Control frame type in which to get the position, either :
186  - in the camera cartesien frame,
187  - joint (articular) coordinates of each axes
188  - in a reference or fixed cartesien frame attached to the robot base
189  - in a mixt cartesien frame (translation in reference frame, and rotation in
190  camera frame)
191 
192  \param position : Measured position of the robot:
193  - in camera cartesien frame, a 6 dimension vector, set to 0.
194 
195  - in articular, a 6 dimension vector corresponding to the articular
196  position of each dof, first the 3 translations, then the 3
197  articular rotation positions represented by a vpRxyzVector.
198 
199  - in reference frame, a 6 dimension vector, the first 3 values correspond to
200  the translation tx, ty, tz in meters (like a vpTranslationVector), and the
201  last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
202 */
204 {
205  q.resize(6);
206 
207  switch (frame) {
209  q = 0;
210  break;
211 
214  // Convert wMc_ to a position
215  // From fMc extract the pose
216  vpRotationMatrix cRw;
217  this->cMw_.extract(cRw);
218  vpRxyzVector rxyz;
219  rxyz.buildFrom(cRw);
220 
221  for (unsigned int i = 0; i < 3; i++) {
222  q[i] = this->cMw_[i][3]; // translation x,y,z
223  q[i + 3] = rxyz[i]; // Euler rotation x,y,z
224  }
225 
226  break;
227  }
228  case vpRobot::MIXT_FRAME:
229  std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
230  break;
232  std::cout << "END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
233  break;
234  }
235 }
236 
242 {
245  }
246 
247  this->cMw_ = cMw;
248 }
249 
250 #elif !defined(VISP_BUILD_SHARED_LIBS)
251 // Work around to avoid warning: libvisp_robot.a(vpRobotCamera.cpp.o) has no symbols
252 void dummy_vpRobotCamera() { };
253 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:1056
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
void extract(vpRotationMatrix &R) const
static double rad(double deg)
Definition: vpMath.h:127
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
void eye()
Definition: vpMatrix.cpp:448
void setPosition(const vpHomogeneousMatrix &cMw)
void get_cVe(vpVelocityTwistMatrix &cVe) const
void get_eJe(vpMatrix &eJe) vp_override
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v) vp_override
vpHomogeneousMatrix cMw_
void getPosition(vpHomogeneousMatrix &cMw) const
Error that can be emitted by the vpRobot class and its derivatives.
@ wrongStateError
Wrong robot state.
int nDof
number of degrees of freedom
Definition: vpRobot.h:102
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition: vpRobot.h:104
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:153
double * qmin
Definition: vpRobot.h:113
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:160
vpControlFrameType
Definition: vpRobot.h:75
@ REFERENCE_FRAME
Definition: vpRobot.h:76
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
@ MIXT_FRAME
Definition: vpRobot.h:86
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:81
double * qmax
Definition: vpRobot.h:114
int areJointLimitsAvailable
Definition: vpRobot.h:112
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:110
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:66
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:65
double getMaxRotationVelocity(void) const
Definition: vpRobot.cpp:270
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:198
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:106
double getMaxTranslationVelocity(void) const
Definition: vpRobot.cpp:248
void setMaxRotationVelocity(double maxVr)
Definition: vpRobot.cpp:257
void setMaxTranslationVelocity(double maxVt)
Definition: vpRobot.cpp:236
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
vpRxyzVector buildFrom(const vpRotationMatrix &R)