Visual Servoing Platform  version 3.6.1 under development (2024-04-22)
vpRobotUniversalRobots.h
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30  *
31  * Description:
32  * Interface for Universal Robot.
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35 
36 #ifndef vpRobotUniversalRobots_h
37 #define vpRobotUniversalRobots_h
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #if defined(VISP_HAVE_UR_RTDE)
42 
43 #include <memory>
44 
45 #include <visp3/robot/vpRobot.h>
46 #include <visp3/robot/vpRobotException.h>
47 
48 #include <ur_rtde/dashboard_client.h>
49 #include <ur_rtde/rtde_control_interface.h>
50 #include <ur_rtde/rtde_receive_interface.h>
51 
60 class VISP_EXPORT vpRobotUniversalRobots : public vpRobot
61 {
62 private: // Not allowed functions
67 
68 public:
70  vpRobotUniversalRobots(const std::string &ur_address);
71  virtual ~vpRobotUniversalRobots();
72 
73  void connect(const std::string &ur_address);
74  void disconnect();
75 
79  std::shared_ptr<ur_rtde::RTDEReceiveInterface> getRTDEReceiveInterfaceHandler() const { return m_rtde_receive; }
80 
84  std::shared_ptr<ur_rtde::RTDEControlInterface> getRTDEControlInterfaceHandler() const { return m_rtde_control; }
85 
89  std::shared_ptr<ur_rtde::DashboardClient> getDashboardClientHandler() const { return m_db_client; }
90 
91  vpHomogeneousMatrix get_fMe();
92  vpHomogeneousMatrix get_fMe(const vpColVector &q);
93  vpHomogeneousMatrix get_fMc();
94  vpHomogeneousMatrix get_eMc() const;
95 
96  void getForceTorque(const vpRobot::vpControlFrameType frame, vpColVector &force);
97  std::string getPolyScopeVersion();
98  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position) vp_override;
99  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &pose);
100  int getRobotMode() const;
101  std::string getRobotModel() const;
102 
103  void move(const std::string &filename, double velocity_percentage = 10.);
104 
105  bool readPosFile(const std::string &filename, vpColVector &q);
106  bool savePosFile(const std::string &filename, const vpColVector &q);
107 
108  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position) vp_override;
109  void setPosition(const vpRobot::vpControlFrameType frame, const vpPoseVector &pose);
110  void setPositioningVelocity(double velocity);
111 
113  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
114 
115  void set_eMc(const vpHomogeneousMatrix &eMc);
116 
117  void stopMotion();
118 
119 private:
120  // Not implemented yet
121  void get_eJe(vpMatrix &_eJe) vp_override { };
122  void get_fJe(vpMatrix &_fJe) vp_override { };
123  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override { };
124 
125 protected:
126  void init();
127 
128  std::shared_ptr<ur_rtde::RTDEReceiveInterface> m_rtde_receive;
129  std::shared_ptr<ur_rtde::RTDEControlInterface> m_rtde_control;
130  std::shared_ptr<ur_rtde::DashboardClient> m_db_client;
138 };
139 
140 #endif
141 #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
std::shared_ptr< ur_rtde::RTDEReceiveInterface > getRTDEReceiveInterfaceHandler() const
std::shared_ptr< ur_rtde::DashboardClient > getDashboardClientHandler() const
std::shared_ptr< ur_rtde::DashboardClient > m_db_client
vpRobot::vpControlFrameType m_vel_control_frame
std::shared_ptr< ur_rtde::RTDEControlInterface > getRTDEControlInterfaceHandler() const
std::shared_ptr< ur_rtde::RTDEReceiveInterface > m_rtde_receive
std::shared_ptr< ur_rtde::RTDEControlInterface > m_rtde_control
Class that defines a generic virtual robot.
Definition: vpRobot.h:57
vpControlFrameType
Definition: vpRobot.h:75
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).
vpRobotStateType
Definition: vpRobot.h:63
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:198
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.