Visual Servoing Platform  version 3.6.1 under development (2024-03-04)
vpRobotKinova.h
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30  *
31  * Description:
32  * Interface for Kinova Jaco robot.
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34 *****************************************************************************/
35 
36 #ifndef vpRobotKinova_h
37 #define vpRobotKinova_h
38 
47 #include <visp3/core/vpConfig.h>
48 
49 #ifdef VISP_HAVE_JACOSDK
50 
51 #include <KinovaTypes.h>
52 
53 #ifdef __linux__
54 #include <Kinova.API.CommLayerUbuntu.h>
55 #include <Kinova.API.UsbCommandLayerUbuntu.h>
56 #include <dlfcn.h>
57 #include <stdio.h>
58 #include <unistd.h>
59 #include <vector>
60 #elif _WIN32
61 #include <CommandLayer.h>
62 #include <CommunicationLayer.h>
63 #include <Windows.h>
64 #include <conio.h>
65 #include <iostream>
66 #endif
67 
68 #include <visp3/core/vpHomogeneousMatrix.h>
69 #include <visp3/robot/vpRobot.h>
70 
88 class VISP_EXPORT vpRobotKinova : public vpRobot
89 {
90 public:
91  typedef enum { CMD_LAYER_USB, CMD_LAYER_ETHERNET, CMD_LAYER_UNSET } CommandLayer;
92 
93  vpRobotKinova();
94  virtual ~vpRobotKinova() vp_override;
95 
96  int connect();
97 
98  void get_eJe(vpMatrix &eJe) vp_override;
99  void get_fJe(vpMatrix &fJe) vp_override;
100 
105  vpHomogeneousMatrix get_eMc() const { return m_eMc; }
106 
107  int getActiveDevice() const { return m_active_device; }
108  int getNumDevices() const { return m_devices_count; }
109  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
110  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position) vp_override;
111  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &pose);
112 
113  void homing();
114 
119  void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
120  void setActiveDevice(int device);
125  void setCommandLayer(CommandLayer command_layer) { m_command_layer = command_layer; }
126  void setDoF(unsigned int dof);
127  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) vp_override;
134  void setPluginLocation(const std::string &plugin_location) { m_plugin_location = plugin_location; }
135  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
141  void setVerbose(bool verbose) { m_verbose = verbose; }
142 
143 protected:
144  void closePlugin();
145  void getJointPosition(vpColVector &q);
146  void init();
147  void loadPlugin();
148  void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
149  void setJointVelocity(const vpColVector &qdot);
150 
151 protected:
153  std::string m_plugin_location;
154  bool m_verbose;
157  KinovaDevice *m_devices_list;
160 
161 #ifdef __linux__
162  void *m_command_layer_handle;
163 #elif _WIN32
164  HINSTANCE m_command_layer_handle;
165 #endif
166 
167 private:
168  int (*KinovaCloseAPI)();
169  int (*KinovaGetAngularCommand)(AngularPosition &);
170  int (*KinovaGetCartesianCommand)(CartesianPosition &);
171  int (*KinovaGetDevices)(KinovaDevice devices[MAX_KINOVA_DEVICE], int &result);
172  int (*KinovaInitFingers)();
173  int (*KinovaInitAPI)();
174  int (*KinovaMoveHome)();
175  int (*KinovaSendBasicTrajectory)(TrajectoryPoint command);
176  int (*KinovaSetActiveDevice)(KinovaDevice device);
177  int (*KinovaSetAngularControl)();
178  int (*KinovaSetCartesianControl)();
179 };
180 
181 #endif
182 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:189
void set_eMc(vpHomogeneousMatrix &eMc)
void setCommandLayer(CommandLayer command_layer)
KinovaDevice * m_devices_list
int getNumDevices() const
std::string m_plugin_location
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
CommandLayer m_command_layer
void setVerbose(bool verbose)
void setPluginLocation(const std::string &plugin_location)
int getActiveDevice() const
Class that defines a generic virtual robot.
Definition: vpRobot.h:57
vpControlFrameType
Definition: vpRobot.h:75
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).
virtual void init()=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.