Visual Servoing Platform  version 3.6.1 under development (2024-03-28)
vpRobotPtu46.h
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30  *
31  * Description:
32  * Interface for the ptu-46 robot.
33  *
34 *****************************************************************************/
35 
36 #include <visp3/core/vpConfig.h>
37 #ifdef VISP_HAVE_PTU46
38 
39 #ifndef _vpRobotPtu46_h_
40 #define _vpRobotPtu46_h_
41 
42 /* ------------------------------------------------------------------------ */
43 /* --- INCLUDES ----------------------------------------------------------- */
44 /* ------------------------------------------------------------------------ */
45 
46 /* --- GENERAL --- */
47 #include <iostream>
48 #include <stdio.h>
49 
50 /* --- ViSP --- */
51 #include <visp3/core/vpColVector.h>
52 #include <visp3/core/vpDebug.h>
53 #include <visp3/core/vpVelocityTwistMatrix.h>
54 #include <visp3/robot/vpPtu46.h>
55 #include <visp3/robot/vpRobot.h>
56 
57 #include <ptu.h> // Contrib for Ptu-46 robot
58 
59 /* ------------------------------------------------------------------------ */
60 /* --- CLASS ------------------------------------------------------------- */
61 /* ------------------------------------------------------------------------ */
62 
77 class VISP_EXPORT vpRobotPtu46 : public vpPtu46, public vpRobot
78 {
79 
80 private:
82  vpRobotPtu46(const vpRobotPtu46 &ass);
83 
85  Ptu ptu;
86 
87 private:
88  static bool robotAlreadyCreated;
89  double positioningVelocity;
90  int velocityMesureTempo;
91  std::string device;
92 
93 public:
94  static const double defaultPositioningVelocity;
95 
96  explicit vpRobotPtu46(const std::string &device = "/dev/ttyS0");
97  explicit vpRobotPtu46(vpRobotPtu46 *pub);
98  virtual ~vpRobotPtu46(void);
99 
100  void get_cMe(vpHomogeneousMatrix &_cMe) const;
101  void get_cVe(vpVelocityTwistMatrix &_cVe) const;
102  void get_eJe(vpMatrix &_eJe) vp_override;
103  void get_fJe(vpMatrix &_fJe) vp_override;
104 
106  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
107  double getPositioningVelocity(void);
108  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q_dot);
109  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
110 
111  void init(void);
112 
113  bool readPositionFile(const std::string &filename, vpColVector &q);
114 
115  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) vp_override;
116  void setPosition(const vpRobot::vpControlFrameType frame, const double &q1, const double &q2);
117  void setPosition(const char *filename);
118  void setPositioningVelocity(double velocity);
120 
121  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot) vp_override;
122 
123  void stopMotion();
124 };
125 
126 #endif /* #ifndef _vpRobotPtu46_h_ */
127 
128 #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
Jacobian, geometric model functionalities... for ptu46, pan, tilt head from Directed Perception.
Definition: vpPtu46.h:71
void get_cVe(vpVelocityTwistMatrix &_cVe) const
Definition: vpPtu46.cpp:190
void init(void)
Definition: vpPtu46.cpp:163
void get_cMe(vpHomogeneousMatrix &_cMe) const
Definition: vpPtu46.cpp:207
void get_fJe(const vpColVector &q, vpMatrix &fJe) const
Definition: vpPtu46.cpp:275
void get_eJe(const vpColVector &q, vpMatrix &eJe) const
Definition: vpPtu46.cpp:246
Interface for the Directed Perception ptu-46 pan, tilt head .
Definition: vpRobotPtu46.h:78
static const double defaultPositioningVelocity
Definition: vpRobotPtu46.h:94
vpRobotPtu46(vpRobotPtu46 *pub)
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).
vpRobotStateType
Definition: vpRobot.h:63
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:198
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.