Visual Servoing Platform  version 3.4.1 under development (2021-09-25)
vpRobotPtu46.h
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30  *
31  * Description:
32  * Interface for the ptu-46 robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #include <visp3/core/vpConfig.h>
40 #ifdef VISP_HAVE_PTU46
41 
42 #ifndef _vpRobotPtu46_h_
43 #define _vpRobotPtu46_h_
44 
45 /* ------------------------------------------------------------------------ */
46 /* --- INCLUDES ----------------------------------------------------------- */
47 /* ------------------------------------------------------------------------ */
48 
49 /* --- GENERAL --- */
50 #include <iostream>
51 #include <stdio.h>
52 
53 /* --- ViSP --- */
54 #include <visp3/core/vpColVector.h>
55 #include <visp3/core/vpDebug.h>
56 #include <visp3/core/vpVelocityTwistMatrix.h>
57 #include <visp3/robot/vpPtu46.h>
58 #include <visp3/robot/vpRobot.h>
59 
60 #include <ptu.h> // Contrib for Ptu-46 robot
61 
62 /* ------------------------------------------------------------------------ */
63 /* --- CLASS ------------------------------------------------------------- */
64 /* ------------------------------------------------------------------------ */
65 
80 class VISP_EXPORT vpRobotPtu46 : public vpPtu46, public vpRobot
81 {
82 
83 private:
85  vpRobotPtu46(const vpRobotPtu46 &ass);
86 
88  Ptu ptu;
89 
90 private:
91  static bool robotAlreadyCreated;
92  double positioningVelocity;
93  int velocityMesureTempo;
94  char *device;
95 
96 public:
97  static const double defaultPositioningVelocity;
98 
99  explicit vpRobotPtu46(const char *device = "/dev/ttyS0");
100  explicit vpRobotPtu46(vpRobotPtu46 *pub);
101  virtual ~vpRobotPtu46(void);
102 
103  void get_cMe(vpHomogeneousMatrix &_cMe) const;
104  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
105  void get_eJe(vpMatrix &_eJe);
106  void get_fJe(vpMatrix &_fJe);
107 
110  double getPositioningVelocity(void);
111  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
112  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
113 
114  void init(void);
115 
116  bool readPositionFile(const std::string &filename, vpColVector &q);
117 
118  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q);
119  void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
120  void setPosition(const char *filename);
121  void setPositioningVelocity(double velocity);
123 
124  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot);
125 
126  void stopMotion();
127 };
128 
129 #endif /* #ifndef _vpRobotPtu46_h_ */
130 
131 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_cMe(vpHomogeneousMatrix &_cMe) const
Definition: vpPtu46.cpp:210
static const double defaultPositioningVelocity
Definition: vpRobotPtu46.h:97
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
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
Interface for the Directed Perception ptu-46 pan, tilt head .
Definition: vpRobotPtu46.h:80
vpRobotStateType
Definition: vpRobot.h:64
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Definition: vpPtu46.cpp:193
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpPtu46.cpp:249
Jacobian, geometric model functionnalities... for ptu46, pan, tilt head from Directed Perception...
Definition: vpPtu46.h:73
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
void init(void)
Definition: vpPtu46.cpp:166
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpPtu46.cpp:278