Visual Servoing Platform  version 3.5.1 under development (2022-12-02)
vpRobotUniversalRobots.h
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30  *
31  * Description:
32  * Interface for Universal Robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpRobotUniversalRobots_h
40 #define vpRobotUniversalRobots_h
41 
42 #include <visp3/core/vpConfig.h>
43 
44 #if defined(VISP_HAVE_UR_RTDE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
45 
46 #include <memory>
47 
48 #include <visp3/robot/vpRobot.h>
49 #include <visp3/robot/vpRobotException.h>
50 
51 #include <ur_rtde/dashboard_client.h>
52 #include <ur_rtde/rtde_control_interface.h>
53 #include <ur_rtde/rtde_receive_interface.h>
54 
63 class VISP_EXPORT vpRobotUniversalRobots : public vpRobot
64 {
65 private: // Not allowed functions
70 
71 public:
73  vpRobotUniversalRobots(const std::string &ur_address);
74  virtual ~vpRobotUniversalRobots();
75 
76  void connect(const std::string &ur_address);
77  void disconnect();
78 
82  std::shared_ptr<ur_rtde::RTDEReceiveInterface> getRTDEReceiveInterfaceHandler() const { return m_rtde_receive; }
83 
87  std::shared_ptr<ur_rtde::RTDEControlInterface> getRTDEControlInterfaceHandler() const { return m_rtde_control; }
88 
92  std::shared_ptr<ur_rtde::DashboardClient> getDashboardClientHandler() const { return m_db_client; }
93 
94  vpHomogeneousMatrix get_fMe();
95  vpHomogeneousMatrix get_fMe(const vpColVector &q);
96  vpHomogeneousMatrix get_fMc();
97  vpHomogeneousMatrix get_eMc() const;
98 
99  void getForceTorque(const vpRobot::vpControlFrameType frame, vpColVector &force);
100  std::string getPolyScopeVersion();
101  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
102  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &pose);
103  int getRobotMode() const;
104  std::string getRobotModel() const;
105 
106  void move(const std::string &filename, double velocity_percentage = 10.);
107 
108  bool readPosFile(const std::string &filename, vpColVector &q);
109  bool savePosFile(const std::string &filename, const vpColVector &q);
110 
111  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
112  void setPosition(const vpRobot::vpControlFrameType frame, const vpPoseVector &pose);
113  void setPositioningVelocity(double velocity);
114 
116  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
117 
118  void set_eMc(const vpHomogeneousMatrix &eMc);
119 
120  void stopMotion();
121 
122 private:
123  // Not implemented yet
124  void get_eJe(vpMatrix &_eJe){};
125  void get_fJe(vpMatrix &_fJe){};
127 
128 protected:
129  void init();
130 
131  std::shared_ptr<ur_rtde::RTDEReceiveInterface> m_rtde_receive;
132  std::shared_ptr<ur_rtde::RTDEControlInterface> m_rtde_control;
133  std::shared_ptr<ur_rtde::DashboardClient> m_db_client;
141 };
142 
143 #endif
144 #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
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: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).
vpRobotStateType
Definition: vpRobot.h:65
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
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.