Visual Servoing Platform  version 3.6.1 under development (2024-06-15)
vpRobotFlirPtu.h
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30  *
31  * Description:
32  * Interface for Flir Ptu Cpi robot.
33  *
34 *****************************************************************************/
35 
41 #ifndef vpRobotFlirPtu_h
42 #define vpRobotFlirPtu_h
43 
44 #include <visp3/core/vpConfig.h>
45 
46 #ifdef VISP_HAVE_FLIR_PTU_SDK
47 
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/robot/vpRobot.h>
50 #include <visp3/robot/vpRobotException.h>
51 
94 class VISP_EXPORT vpRobotFlirPtu : public vpRobot
95 {
96 public:
98  virtual ~vpRobotFlirPtu();
99 
100  void connect(const std::string &portname, int baudrate = 9600);
101  void disconnect();
102 
103  void get_eJe(vpMatrix &eJe) vp_override;
104  vpMatrix get_eJe();
105  void get_fJe(vpMatrix &fJe) vp_override;
106  vpMatrix get_fJe();
107  vpMatrix get_fMe();
108 
113  vpHomogeneousMatrix get_eMc() const { return m_eMc; }
114  vpVelocityTwistMatrix get_cVe() const;
115 
116  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
117 
118  std::string getNetworkIP();
119  std::string getNetworkGateway();
120  std::string getNetworkHostName();
121 
122  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
123  vpColVector getPanPosLimits();
124  vpColVector getTiltPosLimits();
125  vpColVector getPanTiltVelMax();
126 
127  void reset();
128 
133  void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
134  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) vp_override;
135  void setPanPosLimits(const vpColVector &pan_limits);
136  void setTiltPosLimits(const vpColVector &tilt_limits);
137 
138  void setPositioningVelocity(double velocity);
140  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
141  void stopMotion();
142 
143  static void emergencyStop(int signo);
144 
145 protected:
146  void init();
147  void getLimits();
148  void getJointPosition(vpColVector &q);
149  void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
150  void setJointVelocity(const vpColVector &qdot);
151 
152 private:
153  double tics2deg(int axis, int tics);
154  double tics2rad(int axis, int tics);
155  int rad2tics(int axis, double rad);
156 
157 protected:
159 
160  struct cerial *m_cer;
161  uint16_t m_status;
162  std::vector<int> m_pos_max_tics;
163  std::vector<int> m_pos_min_tics;
164  std::vector<int> m_vel_max_tics;
165  std::vector<double> m_res;
169 };
171 #endif
172 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
std::vector< int > m_pos_max_tics
Pan min/max position in robot tics unit.
double m_positioning_velocity
std::vector< double > m_res
Pan/tilt tic resolution in deg.
void set_eMc(vpHomogeneousMatrix &eMc)
std::vector< int > m_vel_max_tics
Pan/tilt max velocity in robot tics unit.
struct cerial * m_cer
vpHomogeneousMatrix get_eMc() const
std::vector< int > m_pos_min_tics
Tilt min/max position in robot tics unit.
Class that defines a generic virtual robot.
Definition: vpRobot.h:59
vpControlFrameType
Definition: vpRobot.h:77
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
vpRobotStateType
Definition: vpRobot.h:65
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:198
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.