Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpRobotViper650.h
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30  *
31  * Description:
32  * Interface for the Irisa's Viper S650 robot controlled by an Adept
33  *MotionBlox.
34  *
35 *****************************************************************************/
36 
37 #ifndef vpRobotViper650_h
38 #define vpRobotViper650_h
39 
40 #include <visp3/core/vpConfig.h>
41 
42 #ifdef VISP_HAVE_VIPER650
43 
44 #include <iostream>
45 #include <stdio.h>
46 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpDebug.h>
49 #include <visp3/robot/vpRobot.h>
50 #include <visp3/robot/vpViper650.h>
51 
52 // low level controller api
53 extern "C" {
54 #include "irisa_Viper650.h"
55 #include "trycatch.h"
56 }
57 
334 class VISP_EXPORT vpRobotViper650 : public vpViper650, public vpRobot
335 {
336 
337 public: /* Constantes */
339  typedef enum
340  {
342  MANUAL,
344  ESTOP
345  } vpControlModeType;
346 
347  /* Max velocity used during robot control in position.
348  * this value could be changed using setPositioningVelocity().
349  */
350  static const double m_defaultPositioningVelocity; // = 20.0;
351 
352 private: /* Not allowed functions. */
356  vpRobotViper650(const vpRobotViper650 &robot);
357 
358 private: /* Attributs prives. */
368  static bool m_robotAlreadyCreated;
369 
370  double m_positioningVelocity;
371 
372  // Variables used to compute the measured velocities (see getVelocity() )
373  vpColVector m_q_prev_getvel;
374  vpHomogeneousMatrix m_fMc_prev_getvel;
375  vpHomogeneousMatrix m_fMe_prev_getvel;
376  double m_time_prev_getvel;
377  bool m_first_time_getvel;
378 
379  // Variables used to compute the measured displacement (see getDisplacement() )
380  vpColVector m_q_prev_getdis;
381  bool m_first_time_getdis;
382  vpControlModeType m_controlMode;
383 
384 public: /* Methode publiques */
385  explicit vpRobotViper650(bool verbose = true);
386  virtual ~vpRobotViper650(void);
387 
388  // Force/Torque control
389  void biasForceTorqueSensor() const;
390 
391  void closeGripper() const;
392 
393  void disableJoint6Limits() const;
394  void enableJoint6Limits() const;
395 
400  vpControlModeType getControlMode() const { return m_controlMode; }
401 
402  void getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &displacement);
403  void getForceTorque(vpColVector &H) const;
404  vpColVector getForceTorque() const;
405 
406  double getMaxRotationVelocityJoint6() const;
407 
408  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
409  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
410  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
411  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
412 
413  double getPositioningVelocity(void) const;
414  bool getPowerState() const;
415 
416  double getTime() const;
417  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
418  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
419 
420  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
421  vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
422 
423  void get_cMe(vpHomogeneousMatrix &cMe) const;
424  void get_cVe(vpVelocityTwistMatrix &cVe) const;
425  void get_eJe(vpMatrix &eJe) vp_override;
426  void get_fJe(vpMatrix &fJe) vp_override;
427 
428  void init(void);
429  void
432  void init(vpViper650::vpToolType tool, const std::string &filename);
433  void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);
434 
435  void move(const std::string &filename);
436 
437  void openGripper();
438 
439  void powerOn();
440  void powerOff();
441 
442  static bool readPosFile(const std::string &filename, vpColVector &q);
443  static bool savePosFile(const std::string &filename, const vpColVector &q);
444 
445  void set_eMc(const vpHomogeneousMatrix &eMc_);
446  void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);
447 
448  void setMaxRotationVelocity(double w_max);
449  void setMaxRotationVelocityJoint6(double w6_max);
450 
451  // Position control
452  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position) vp_override;
453  void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3, double pos4,
454  double pos5, double pos6);
455  void setPosition(const std::string &filename);
456  void setPositioningVelocity(double velocity);
457 
458  // State
460  // Velocity control
461  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity) vp_override;
462 
463  void stopMotion();
464 
465 private:
466  double m_maxRotationVelocity_joint6;
467 };
468 
469 #endif
470 #endif /* #ifndef vpRobotViper650_h */
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
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
Control of Irisa's Viper S650 robot named Viper650.
static const double m_defaultPositioningVelocity
@ AUTO
Automatic control mode (default).
vpControlModeType getControlMode() const
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
void setMaxRotationVelocity(double maxVr)
Definition: vpRobot.cpp:257
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
Class that consider the case of a translation vector.
Modelization of the ADEPT Viper 650 robot.
Definition: vpViper650.h:93
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper650.h:118
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
Definition: vpViper.cpp:1212
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpViper.cpp:904
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpViper.cpp:920