Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
vpRobotFranka.h
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30  *
31  * Description:
32  * Interface for the Franka robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpRobotFranka_h_
40 #define _vpRobotFranka_h_
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #ifdef VISP_HAVE_FRANKA
45 
46 #include <iostream>
47 #include <thread>
48 #include <atomic>
49 #include <vector>
50 
51 #include <stdio.h>
52 
53 #include <franka/exception.h>
54 #include <franka/robot.h>
55 #include <franka/model.h>
56 #include <franka/gripper.h>
57 
58 #include <visp3/core/vpColVector.h>
59 #include <visp3/robot/vpRobot.h>
60 #include <visp3/core/vpException.h>
61 
223 class VISP_EXPORT vpRobotFranka : public vpRobot
224 {
225 private:
229  vpRobotFranka(const vpRobotFranka &robot);
234 
235  void init();
236 
237  franka::Robot *m_handler;
238  franka::Gripper *m_gripper;
239  franka::Model *m_model;
240  double m_positionningVelocity;
241 
242  // Velocity controller
243  std::thread m_velControlThread;
244  std::atomic_bool m_velControlThreadIsRunning;
245  std::atomic_bool m_velControlThreadStopAsked;
246  std::array<double, 7> m_dq_des; // Desired joint velocity
247  vpColVector m_v_cart_des; // Desired cartesian velocity either in reference, end-effector, camera, or tool frame
248 
249  // Force/torque controller
250  std::thread m_ftControlThread;
251  std::atomic_bool m_ftControlThreadIsRunning;
252  std::atomic_bool m_ftControlThreadStopAsked;
253  std::array<double, 7> m_tau_J_des; // Desired joint torques
254  vpColVector m_ft_cart_des; // Desired cartesian force/torque either in reference, end-effector, camera, or tool frame
255 
256  std::array<double, 7> m_q_min; // Joint min position
257  std::array<double, 7> m_q_max; // Joint max position
258  std::array<double, 7> m_dq_max; // Joint max velocity
259  std::array<double, 7> m_ddq_max; // Joint max acceleration
260 
261  franka::RobotState m_robot_state; // Robot state protected by mutex
262  std::mutex m_mutex; // Mutex to protect m_robot_state
263 
264  vpHomogeneousMatrix m_eMc;
265  std::string m_log_folder;
266  std::string m_franka_address;
267 
268 public:
269  vpRobotFranka();
270 
271  vpRobotFranka(const std::string &franka_address,
272  franka::RealtimeConfig realtime_config = franka::RealtimeConfig::kEnforce);
273 
274  virtual ~vpRobotFranka();
275 
276  void connect(const std::string &franka_address,
277  franka::RealtimeConfig realtime_config = franka::RealtimeConfig::kEnforce);
278 
279  vpHomogeneousMatrix get_fMe(const vpColVector &q);
280  vpHomogeneousMatrix get_fMc(const vpColVector &q);
281  vpHomogeneousMatrix get_eMc() const;
282 
283  void get_eJe(vpMatrix &eJe);
284  void get_eJe(const vpColVector &q, vpMatrix &eJe);
285  void get_fJe(vpMatrix &fJe);
286  void get_fJe(const vpColVector &q, vpMatrix &fJe);
287 
288  void getCoriolis(vpColVector &coriolis);
289  void getForceTorque(const vpRobot::vpControlFrameType frame, vpColVector &force);
290 
291  void getGravity(vpColVector &gravity);
292 
293  franka::RobotState getRobotInternalState();
294 
300  franka::Gripper *getGripperHandler() {
301  if (!m_gripper) {
302  throw(vpException(vpException::fatalError, "Cannot get Franka gripper handler: gripper is not connected"));
303  }
304 
305  return m_gripper;
306  }
307 
308 
314  franka::Robot *getHandler() {
315  if (!m_handler) {
316  throw(vpException(vpException::fatalError, "Cannot get Franka robot handler: robot is not connected"));
317  }
318 
319  return m_handler;
320  }
321 
322  vpColVector getJointMin() const;
323  vpColVector getJointMax() const;
324 
325  void getMass(vpMatrix &mass);
326 
327  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
328  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &pose);
329 
330  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &d_position);
331 
332  int gripperClose();
333  int gripperGrasp(double grasping_width, double force=60.);
334  void gripperHoming();
335  int gripperMove(double width);
336  int gripperOpen();
337  void gripperRelease();
338 
339  void move(const std::string &filename, double velocity_percentage=10.);
340 
341  bool readPosFile(const std::string &filename, vpColVector &q);
342  bool savePosFile(const std::string &filename, const vpColVector &q);
343 
344  void set_eMc(const vpHomogeneousMatrix &eMc);
345  void setForceTorque(const vpRobot::vpControlFrameType frame, const vpColVector &ft,
346  const double &filter_gain=0.1, const bool &activate_pi_controller=false);
347  void setLogFolder(const std::string &folder);
348  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
349  void setPositioningVelocity(const double velocity);
350 
352  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
353 
354  void stopMotion();
355 };
356 
357 #endif
358 #endif // #ifndef __vpRobotFranka_h_
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
error that can be emited by ViSP classes.
Definition: vpException.h:71
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
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
franka::Gripper * getGripperHandler()
franka::Robot * getHandler()
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
vpRobotStateType
Definition: vpRobot.h:64
virtual void init()=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
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
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0