Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
vpRobotViper650.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Interface for the Irisa's Viper S650 robot controlled by an Adept
33  *MotionBlox.
34  *
35  * Authors:
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpRobotViper650_h
41 #define vpRobotViper650_h
42 
43 #include <visp3/core/vpConfig.h>
44 
45 #ifdef VISP_HAVE_VIPER650
46 
47 #include <iostream>
48 #include <stdio.h>
49 
50 #include <visp3/core/vpColVector.h>
51 #include <visp3/core/vpDebug.h>
52 #include <visp3/robot/vpRobot.h>
53 #include <visp3/robot/vpViper650.h>
54 
55 // low level controller api
56 extern "C" {
57 #include "irisa_Viper650.h"
58 #include "trycatch.h"
59 }
60 
336 class VISP_EXPORT vpRobotViper650 : public vpViper650, public vpRobot
337 {
338 
339 public: /* Constantes */
341  typedef enum {
343  MANUAL,
344  ESTOP
347 
348  /* Vitesse maximale par default lors du positionnement du robot.
349  * C'est la valeur a la construction de l'attribut prive \a
350  * positioningVelocity. Cette valeur peut etre changee par la fonction
351  * #setPositioningVelocity.
352  */
353  static const double defaultPositioningVelocity; // = 20.0;
354 
355 private: /* Not allowed functions. */
359  vpRobotViper650(const vpRobotViper650 &robot);
360 
361 private: /* Attributs prives. */
371  static bool robotAlreadyCreated;
372 
373  double positioningVelocity;
374 
375  // Variables used to compute the measured velocities (see getVelocity() )
376  vpColVector q_prev_getvel;
377  vpHomogeneousMatrix fMc_prev_getvel;
378  double time_prev_getvel;
379  bool first_time_getvel;
380 
381  // Variables used to compute the measured displacement (see
382  // getDisplacement() )
383  vpColVector q_prev_getdis;
384  bool first_time_getdis;
385  vpControlModeType controlMode;
386 
387 public: /* Methode publiques */
388  explicit vpRobotViper650(bool verbose = true);
389  virtual ~vpRobotViper650(void);
390 
391  // Force/Torque control
392  void biasForceTorqueSensor() const;
393 
394  void closeGripper() const;
395 
396  void disableJoint6Limits() const;
397  void enableJoint6Limits() const;
398 
403  vpControlModeType getControlMode() const { return controlMode; }
404 
405  void getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &displacement);
406  void getForceTorque(vpColVector &H) const;
407  vpColVector getForceTorque() const;
408 
409  double getMaxRotationVelocityJoint6() const;
410 
411  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
412  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
413  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
414  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
415 
416  double getPositioningVelocity(void) const;
417  bool getPowerState() const;
418 
419  double getTime() const;
420  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
421  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
422 
423  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
424  vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
425 
426  void get_cMe(vpHomogeneousMatrix &cMe) const;
427  void get_cVe(vpVelocityTwistMatrix &cVe) const;
428  void get_eJe(vpMatrix &eJe);
429  void get_fJe(vpMatrix &fJe);
430 
431  void init(void);
432  void
435  void init(vpViper650::vpToolType tool, const std::string &filename);
436  void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);
437 
438  void move(const std::string &filename);
439 
440  void openGripper();
441 
442  void powerOn();
443  void powerOff();
444 
445  static bool readPosFile(const std::string &filename, vpColVector &q);
446  static bool savePosFile(const std::string &filename, const vpColVector &q);
447 
448  void set_eMc(const vpHomogeneousMatrix &eMc_);
449  void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);
450 
451  void setMaxRotationVelocity(double w_max);
452  void setMaxRotationVelocityJoint6(double w6_max);
453 
454  // Position control
455  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
456  void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3,
457  double pos4, double pos5, double pos6);
458  void setPosition(const std::string &filename);
459  void setPositioningVelocity(double velocity);
460 
461  // State
463  // Velocity control
464  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
465 
466  void stopMotion();
467 
468 private:
469  double maxRotationVelocity_joint6;
470 };
471 
472 #endif
473 #endif /* #ifndef vpRobotViper650_h */
static const double defaultPositioningVelocity
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Implementation of an homogeneous matrix and operations on such kind of matrices.
Control of Irisa&#39;s Viper S650 robot named Viper650.
vpControlModeType getControlMode() const
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
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
Automatic control mode (default).
vpControlFrameType
Definition: vpRobot.h:75
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
void setMaxRotationVelocity(double maxVr)
Definition: vpRobot.cpp:260
vpRobotStateType
Definition: vpRobot.h:64
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
Definition: vpViper.cpp:1230
virtual void init()=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
virtual void get_fJe(vpMatrix &_fJe)=0
Modelisation of the ADEPT Viper 650 robot.
Definition: vpViper650.h:102
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpViper.cpp:922
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper650.h:127
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:151
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpViper.cpp:938
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Class that consider the case of a translation vector.