Visual Servoing Platform  version 3.5.1 under development (2022-11-29)
vpRobotKinova.h
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30  *
31  * Description:
32  * Interface for Kinova Jaco robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpRobotKinova_h
40 #define vpRobotKinova_h
41 
50 #include <visp3/core/vpConfig.h>
51 
52 #ifdef VISP_HAVE_JACOSDK
53 
54 #include <KinovaTypes.h>
55 
56 #ifdef __linux__
57 #include <Kinova.API.CommLayerUbuntu.h>
58 #include <Kinova.API.UsbCommandLayerUbuntu.h>
59 #include <dlfcn.h>
60 #include <stdio.h>
61 #include <unistd.h>
62 #include <vector>
63 #elif _WIN32
64 #include <CommandLayer.h>
65 #include <CommunicationLayer.h>
66 #include <Windows.h>
67 #include <conio.h>
68 #include <iostream>
69 #endif
70 
71 #include <visp3/core/vpHomogeneousMatrix.h>
72 #include <visp3/robot/vpRobot.h>
73 
91 class VISP_EXPORT vpRobotKinova : public vpRobot
92 {
93 public:
94  typedef enum { CMD_LAYER_USB, CMD_LAYER_ETHERNET, CMD_LAYER_UNSET } CommandLayer;
95 
96  vpRobotKinova();
97  virtual ~vpRobotKinova();
98 
99  int connect();
100 
101  void get_eJe(vpMatrix &eJe);
102  void get_fJe(vpMatrix &fJe);
103 
108  vpHomogeneousMatrix get_eMc() const { return m_eMc; }
109 
110  int getActiveDevice() const { return m_active_device; }
111  int getNumDevices() const { return m_devices_count; }
113  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
114  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &pose);
115 
116  void homing();
117 
122  void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
123  void setActiveDevice(int device);
128  void setCommandLayer(CommandLayer command_layer) { m_command_layer = command_layer; }
129  void setDoF(unsigned int dof);
130  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
137  void setPluginLocation(const std::string &plugin_location) { m_plugin_location = plugin_location; }
138  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
144  void setVerbose(bool verbose) { m_verbose = verbose; }
145 
146 protected:
147  void closePlugin();
148  void getJointPosition(vpColVector &q);
149  void init();
150  void loadPlugin();
151  void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
152  void setJointVelocity(const vpColVector &qdot);
153 
154 protected:
156  std::string m_plugin_location;
157  bool m_verbose;
160  KinovaDevice *m_devices_list;
163 
164 #ifdef __linux__
165  void *m_command_layer_handle;
166 #elif _WIN32
167  HINSTANCE m_command_layer_handle;
168 #endif
169 
170 private:
171  int (*KinovaCloseAPI)();
172  int (*KinovaGetAngularCommand)(AngularPosition &);
173  int (*KinovaGetCartesianCommand)(CartesianPosition &);
174  int (*KinovaGetDevices)(KinovaDevice devices[MAX_KINOVA_DEVICE], int &result);
175  int (*KinovaInitFingers)();
176  int (*KinovaInitAPI)();
177  int (*KinovaMoveHome)();
178  int (*KinovaSendBasicTrajectory)(TrajectoryPoint command);
179  int (*KinovaSetActiveDevice)(KinovaDevice device);
180  int (*KinovaSetAngularControl)();
181  int (*KinovaSetCartesianControl)();
182 };
183 
184 #endif
185 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
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
vpHomogeneousMatrix get_eMc() const
void setVerbose(bool verbose)
void setPluginLocation(const std::string &plugin_location)
int getActiveDevice() const
Class that defines a generic virtual robot.
Definition: vpRobot.h:60
vpControlFrameType
Definition: vpRobot.h:76
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).
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.