Visual Servoing Platform  version 3.2.1 under development (2019-05-20)
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 
342 class VISP_EXPORT vpRobotViper650 : public vpViper650, public vpRobot
343 {
344 
345 public: /* Constantes */
347  typedef enum {
349  MANUAL,
350  ESTOP
353 
354  /* Vitesse maximale par default lors du positionnement du robot.
355  * C'est la valeur a la construction de l'attribut prive \a
356  * positioningVelocity. Cette valeur peut etre changee par la fonction
357  * #setPositioningVelocity.
358  */
359  static const double defaultPositioningVelocity; // = 20.0;
360 
361 private: /* Not allowed functions. */
365  vpRobotViper650(const vpRobotViper650 &robot);
366 
367 private: /* Attributs prives. */
377  static bool robotAlreadyCreated;
378 
379  double positioningVelocity;
380 
381  // Variables used to compute the measured velocities (see getVelocity() )
382  vpColVector q_prev_getvel;
383  vpHomogeneousMatrix fMc_prev_getvel;
384  double time_prev_getvel;
385  bool first_time_getvel;
386 
387  // Variables used to compute the measured displacement (see
388  // getDisplacement() )
389  vpColVector q_prev_getdis;
390  bool first_time_getdis;
391  vpControlModeType controlMode;
392 
393 public: /* Methode publiques */
394  explicit vpRobotViper650(bool verbose = true);
395  virtual ~vpRobotViper650(void);
396 
397  // Force/Torque control
398  void biasForceTorqueSensor() const;
399 
400  void closeGripper() const;
401 
402  void disableJoint6Limits() const;
403  void enableJoint6Limits() const;
404 
409  vpControlModeType getControlMode() const { return controlMode; }
410 
411  void getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &displacement);
412  void getForceTorque(vpColVector &H) const;
413  vpColVector getForceTorque() const;
414 
415  double getMaxRotationVelocityJoint6() const;
416 
417  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
418  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
419  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
420  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
421 
422  double getPositioningVelocity(void) const;
423  bool getPowerState() const;
424 
425  double getTime() const;
426  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
427  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
428 
429  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
430  vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
431 
432  void get_cMe(vpHomogeneousMatrix &cMe) const;
433  void get_cVe(vpVelocityTwistMatrix &cVe) const;
434  void get_eJe(vpMatrix &eJe);
435  void get_fJe(vpMatrix &fJe);
436 
437  void init(void);
438  void
441  void init(vpViper650::vpToolType tool, const std::string &filename);
442  void init(vpViper650::vpToolType tool, const vpHomogeneousMatrix &eMc_);
443 
444  void move(const std::string &filename);
445 
446  void openGripper();
447 
448  void powerOn();
449  void powerOff();
450 
451  static bool readPosFile(const std::string &filename, vpColVector &q);
452  static bool savePosFile(const std::string &filename, const vpColVector &q);
453 
454  void set_eMc(const vpHomogeneousMatrix &eMc_);
455  void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);
456 
457  void setMaxRotationVelocity(double w_max);
458  void setMaxRotationVelocityJoint6(double w6_max);
459 
460  // Position control
461  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
462  void setPosition(const vpRobot::vpControlFrameType frame, const double pos1, const double pos2, const double pos3,
463  const double pos4, const double pos5, const double pos6);
464  void setPosition(const std::string &filename);
465  void setPositioningVelocity(const double velocity);
466 
467  // State
469  // Velocity control
470  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
471 
472  void stopMotion();
473 
474 private:
475  double maxRotationVelocity_joint6;
476 };
477 
478 #endif
479 #endif /* #ifndef vpRobotViper650_h */
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpViper.cpp:938
static const double defaultPositioningVelocity
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
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.
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
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
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper650.h:127
void setMaxRotationVelocity(const double maxVr)
Definition: vpRobot.cpp:260
void get_cMe(vpHomogeneousMatrix &cMe) const
Definition: vpViper.cpp:922
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
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
vpControlModeType getControlMode() const
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Class that consider the case of a translation vector.