Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
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 <dlfcn.h>
58 #include <vector>
59 #include <stdio.h>
60 #include <unistd.h>
61 #include <Kinova.API.CommLayerUbuntu.h>
62 #include <Kinova.API.UsbCommandLayerUbuntu.h>
63 #elif _WIN32
64 #include <Windows.h>
65 #include <conio.h>
66 #include <iostream>
67 #include <CommunicationLayer.h>
68 #include <CommandLayer.h>
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 {
97  CMD_LAYER_UNSET
98  } CommandLayer;
99 
100  vpRobotKinova();
101  virtual ~vpRobotKinova();
102 
103  int connect();
104 
105  void get_eJe(vpMatrix &eJe);
106  void get_fJe(vpMatrix &fJe);
107 
112  vpHomogeneousMatrix get_eMc() const { return m_eMc; }
113 
114  int getActiveDevice() const { return m_active_device; }
115  int getNumDevices() const { return m_devices_count; }
117  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
118  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &pose);
119 
120  void homing();
121 
126  void set_eMc(vpHomogeneousMatrix &eMc) { m_eMc = eMc; }
127  void setActiveDevice(int device);
132  void setCommandLayer(CommandLayer command_layer) { m_command_layer = command_layer; }
133  void setDoF(unsigned int dof);
134  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
141  void setPluginLocation(const std::string &plugin_location) { m_plugin_location = plugin_location; }
142  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
148  void setVerbose(bool verbose) { m_verbose = verbose; }
149 
150 protected:
151  void closePlugin();
152  void getJointPosition(vpColVector &q);
153  void init();
154  void loadPlugin();
155  void setCartVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &v);
156  void setJointVelocity(const vpColVector &qdot);
157 
158 protected:
160  std::string m_plugin_location;
161  bool m_verbose;
164  KinovaDevice *m_devices_list;
166  CommandLayer m_command_layer;
167 
168 #ifdef __linux__
169  void * m_command_layer_handle;
170 #elif _WIN32
171  HINSTANCE m_command_layer_handle;
172 #endif
173 
174 private:
175  int (*KinovaCloseAPI)();
176  int (*KinovaGetAngularCommand)(AngularPosition &);
177  int (*KinovaGetCartesianCommand)(CartesianPosition &);
178  int (*KinovaGetDevices)(KinovaDevice devices[MAX_KINOVA_DEVICE], int &result);
179  int (*KinovaInitFingers)();
180  int (*KinovaInitAPI)();
181  int (*KinovaMoveHome)();
182  int (*KinovaSendBasicTrajectory)(TrajectoryPoint command);
183  int (*KinovaSetActiveDevice)(KinovaDevice device);
184  int (*KinovaSetAngularControl)();
185  int (*KinovaSetCartesianControl)();
186 };
187 
188 #endif
189 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
KinovaDevice * m_devices_list
Implementation of an homogeneous matrix and operations on such kind of matrices.
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
void setVerbose(bool verbose)
vpControlFrameType
Definition: vpRobot.h:75
vpHomogeneousMatrix get_eMc() const
void setCommandLayer(CommandLayer command_layer)
vpHomogeneousMatrix m_eMc
Constant transformation between end-effector and tool (or camera) frame.
virtual void init()=0
std::string m_plugin_location
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
CommandLayer m_command_layer
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
void setPluginLocation(const std::string &plugin_location)
void set_eMc(vpHomogeneousMatrix &eMc)
int getNumDevices() const
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
int getActiveDevice() const