Visual Servoing Platform  version 3.2.1 under development (2019-07-18)
vpRobotViper850.h
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30  *
31  * Description:
32  * Interface for the Irisa's Viper S850 robot controlled by an Adept
33  *MotionBlox.
34  *
35  * Authors:
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpRobotViper850_h
41 #define vpRobotViper850_h
42 
43 #include <visp3/core/vpConfig.h>
44 
45 #ifdef VISP_HAVE_VIPER850
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/vpViper850.h>
54 
55 // low level controller api
56 extern "C" {
57 #include "irisa_Viper850.h"
58 #include "trycatch.h"
59 }
60 
61 // If USE_ATI_DAQ defined, use DAQ board instead of serial connexion to
62 // acquire data using comedi
63 #define USE_ATI_DAQ
64 
65 #ifdef USE_ATI_DAQ
66 #include <visp3/sensor/vpForceTorqueAtiSensor.h>
67 #endif
68 
347 class VISP_EXPORT vpRobotViper850 : public vpViper850, public vpRobot
348 {
349 
350 public: /* Constantes */
352  typedef enum {
354  MANUAL,
355  ESTOP
358 
359  /* Vitesse maximale par default lors du positionnement du robot.
360  * C'est la valeur a la construction de l'attribut prive \a
361  * positioningVelocity. Cette valeur peut etre changee par la fonction
362  * #setPositioningVelocity.
363  */
364  static const double defaultPositioningVelocity; // = 20.0;
365 
366 private: /* Not allowed functions. */
370  vpRobotViper850(const vpRobotViper850 &robot);
371 
372 private: /* Attributs prives. */
382  static bool robotAlreadyCreated;
383 
384  double positioningVelocity;
385 
386  // Variables used to compute the measured velocities (see getVelocity() )
387  vpColVector q_prev_getvel;
388  vpHomogeneousMatrix fMc_prev_getvel;
389  double time_prev_getvel;
390  bool first_time_getvel;
391 
392  // Variables used to compute the measured displacement (see
393  // getDisplacement() )
394  vpColVector q_prev_getdis;
395  bool first_time_getdis;
396  vpControlModeType controlMode;
397 
398 #if defined(USE_ATI_DAQ) && defined(VISP_HAVE_COMEDI)
400 #endif
401 
402 public: /* Methode publiques */
403  explicit vpRobotViper850(bool verbose = true);
404  virtual ~vpRobotViper850(void);
405 
406  // Force/Torque control
407  void biasForceTorqueSensor();
408 
409  void closeGripper() const;
410 
411  void disableJoint6Limits() const;
412  void enableJoint6Limits() const;
413 
414  void getDisplacement(vpRobot::vpControlFrameType frame, vpColVector &displacement);
419  vpControlModeType getControlMode() const { return controlMode; }
420 
421  void getForceTorque(vpColVector &H) const;
422  vpColVector getForceTorque() const;
423 
424  double getMaxRotationVelocityJoint6() const;
425  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
426  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position, double &timestamp);
427  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
428  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
429 
430  double getPositioningVelocity(void) const;
431  bool getPowerState() const;
432 
433  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity);
434  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &velocity, double &timestamp);
435 
436  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
437  vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
438 
439  double getTime() const;
440 
441  void get_cMe(vpHomogeneousMatrix &cMe) const;
442  void get_cVe(vpVelocityTwistMatrix &cVe) const;
443  void get_eJe(vpMatrix &eJe);
444  void get_fJe(vpMatrix &fJe);
445 
446  void init(void);
447  void
450  void init(vpViper850::vpToolType tool, const std::string &filename);
451  void init(vpViper850::vpToolType tool, const vpHomogeneousMatrix &eMc_);
452 
453  void move(const std::string &filename);
454 
455  void openGripper();
456 
457  void powerOn();
458  void powerOff();
459 
460  static bool readPosFile(const std::string &filename, vpColVector &q);
461  static bool savePosFile(const std::string &filename, const vpColVector &q);
462 
463  void set_eMc(const vpHomogeneousMatrix &eMc_);
464  void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);
465 
466  void setMaxRotationVelocity(double w_max);
467  void setMaxRotationVelocityJoint6(double w6_max);
468 
469  // Position control
470  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
471  void setPosition(const vpRobot::vpControlFrameType frame, const double pos1, const double pos2, const double pos3,
472  const double pos4, const double pos5, const double pos6);
473  void setPosition(const std::string &filename);
474  void setPositioningVelocity(const double velocity);
475 
476  // State
478 
479  // Velocity control
480  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity);
481 
482  void stopMotion();
483  void unbiasForceTorqueSensor();
484 
485 private:
486  double maxRotationVelocity_joint6;
487 };
488 
489 #endif
490 #endif /* #ifndef vpRobotViper850_h */
void get_cVe(vpVelocityTwistMatrix &cVe) const
Definition: vpViper.cpp:938
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 S850 robot named Viper850.
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
vpControlFrameType
Definition: vpRobot.h:75
vpControlModeType getControlMode() const
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).
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper850.h:128
virtual void get_fJe(vpMatrix &_fJe)=0
Modelisation of the ADEPT Viper 850 robot.
Definition: vpViper850.h:103
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
static const double defaultPositioningVelocity
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
Automatic control mode (default).
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Class that consider the case of a translation vector.