vpRobotCamera.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Defines the simplest robot : a free flying camera.
 *
*****************************************************************************/
 
#include <visp3/robot/vpRobotCamera.h>
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
 
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpExponentialMap.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/robot/vpRobotException.h>
 
BEGIN_VISP_NAMESPACE
vpRobotCamera::vpRobotCamera() : cMw_() { init(); }
 
void vpRobotCamera::init()
{
  nDof = 6;
  eJe.eye(6, 6);
  eJeAvailable = true;
  fJeAvailable = false;
  areJointLimitsAvailable = false;
  qmin = nullptr;
  qmax = nullptr;
 
  setMaxTranslationVelocity(1.);           // vx, vy and vz max set to 1 m/s
  setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
}
 
void vpRobotCamera::get_cVe(vpVelocityTwistMatrix &cVe) const
{
  vpVelocityTwistMatrix cVe_;
  cVe = cVe_;
}
 
void vpRobotCamera::get_eJe(vpMatrix &eJe_) { eJe_ = this->eJe; }
 
void vpRobotCamera::setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v)
{
  switch (frame) {
  case vpRobot::ARTICULAR_FRAME:
  case vpRobot::CAMERA_FRAME: {
    if (vpRobot::STATE_VELOCITY_CONTROL != getRobotState()) {
      setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
    }
 
    vpColVector v_max(6);
 
    for (unsigned int i = 0; i < 3; i++)
      v_max[i] = getMaxTranslationVelocity();
    for (unsigned int i = 3; i < 6; i++)
      v_max[i] = getMaxRotationVelocity();
 
    vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
 
    this->cMw_ = vpExponentialMap::direct(v_sat, delta_t_).inverse() * this->cMw_;
    break;
  }
  case vpRobot::REFERENCE_FRAME:
    throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the reference frame:"
                                                              "functionality not implemented");
    break;
  case vpRobot::MIXT_FRAME:
    throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the mixt frame:"
                                                              "functionality not implemented");
 
    break;
  case vpRobot::END_EFFECTOR_FRAME:
    throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the end-effector frame:"
                                                              "functionality not implemented");
    break;
  }
}
 
void vpRobotCamera::getPosition(vpHomogeneousMatrix &cMw) const { cMw = this->cMw_; }
 
/*
  Get the current position of the robot.
 
  \param frame : Control frame type in which to get the position, either :
  - in the camera cartesian frame,
  - joint (articular) coordinates of each axes
  - in a reference or fixed cartesian frame attached to the robot base
  - in a mixt cartesian frame (translation in reference frame, and rotation in
  camera frame)
 
  \param position : Measured position of the robot:
  - in camera cartesian frame, a 6 dimension vector, set to 0.
 
  - in articular, a 6 dimension vector corresponding to the articular
  position of each dof, first the 3 translations, then the 3
  articular rotation positions represented by a vpRxyzVector.
 
  - in reference frame, a 6 dimension vector, the first 3 values correspond to
  the translation tx, ty, tz in meters (like a vpTranslationVector), and the
  last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
*/
void vpRobotCamera::getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)
{
  q.resize(6);
 
  switch (frame) {
  case vpRobot::CAMERA_FRAME:
    q = 0;
    break;
 
  case vpRobot::ARTICULAR_FRAME:
  case vpRobot::REFERENCE_FRAME: {
    // Convert wMc_ to a position
    // From fMc extract the pose
    vpRotationMatrix cRw;
    this->cMw_.extract(cRw);
    vpRxyzVector rxyz;
    rxyz.buildFrom(cRw);
 
    for (unsigned int i = 0; i < 3; i++) {
      q[i] = this->cMw_[i][3]; // translation x,y,z
      q[i + 3] = rxyz[i];      // Euler rotation x,y,z
    }
 
    break;
  }
  case vpRobot::MIXT_FRAME:
    std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
    break;
  case vpRobot::END_EFFECTOR_FRAME:
    std::cout << "END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
    break;
  }
}
 
void vpRobotCamera::setPosition(const vpHomogeneousMatrix &cMw)
{
  if (vpRobot::STATE_POSITION_CONTROL != getRobotState()) {
    setRobotState(vpRobot::STATE_POSITION_CONTROL);
  }
 
  this->cMw_ = cMw;
}
END_VISP_NAMESPACE
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning: libvisp_robot.a(vpRobotCamera.cpp.o) has no symbols
void dummy_vpRobotCamera() { };
#endif