Visual Servoing Platform  version 3.5.1 under development (2022-12-04)
vpRobot.h
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30  *
31  * Description:
32  * Generic virtual robot.
33  *
34  * Authors:
35  * Eric Marchand
36  *
37  *****************************************************************************/
38 
39 #ifndef vpRobot_H
40 #define vpRobot_H
41 
47 #include <visp3/core/vpColVector.h>
48 #include <visp3/core/vpHomogeneousMatrix.h>
49 #include <visp3/core/vpMatrix.h>
50 #include <visp3/core/vpPoseVector.h>
51 
59 class VISP_EXPORT vpRobot
60 {
61 public:
65  typedef enum {
70  STATE_FORCE_TORQUE_CONTROL
71  } vpRobotStateType;
72 
76  typedef enum {
77  REFERENCE_FRAME,
79  ARTICULAR_FRAME,
81  JOINT_STATE = ARTICULAR_FRAME,
83  CAMERA_FRAME,
85  TOOL_FRAME = CAMERA_FRAME,
87  MIXT_FRAME
90  } vpControlFrameType;
91 
92 private: /* Membres privees */
93  vpRobot::vpRobotStateType stateRobot;
94  vpRobot::vpControlFrameType frameRobot;
95 
96 protected:
98  static const double maxTranslationVelocityDefault; // = 0.2;
100  static const double maxRotationVelocityDefault; // = 0.7;
101 
103  int nDof;
112 
114  double *qmin;
115  double *qmax;
116 
117  bool verbose_;
118 
119 public:
120  vpRobot(void);
121  vpRobot(const vpRobot &robot);
122  virtual ~vpRobot();
123 
126 
127  //---------- Jacobian -----------------------------
129  virtual void get_eJe(vpMatrix &_eJe) = 0;
132  virtual void get_fJe(vpMatrix &_fJe) = 0;
133 
136  virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) = 0;
137 
138  double getMaxTranslationVelocity(void) const;
139  double getMaxRotationVelocity(void) const;
141  virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position) = 0;
142 
143  // Return the robot position (frame has to be specified).
144  vpColVector getPosition(const vpRobot::vpControlFrameType frame);
145  virtual vpRobotStateType getRobotState(void) const { return stateRobot; }
146 
147  virtual void init() = 0;
148 
149  vpRobot &operator=(const vpRobot &robot);
150 
151  void setMaxRotationVelocity(double maxVr);
152  void setMaxTranslationVelocity(double maxVt);
154  virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) = 0;
155  virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);
156 
159  virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) = 0;
160  inline void setVerbose(bool verbose) { verbose_ = verbose; };
161 
163 
166  static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose = false);
168 
169 protected:
172  vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame);
173  vpControlFrameType getRobotFrame(void) const { return frameRobot; }
175 };
176 
177 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Class that defines a generic virtual robot.
Definition: vpRobot.h:60
int nDof
number of degrees of freedom
Definition: vpRobot.h:103
static const double maxTranslationVelocityDefault
Definition: vpRobot.h:98
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition: vpRobot.h:105
void setVerbose(bool verbose)
Definition: vpRobot.h:160
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:145
double * qmin
Definition: vpRobot.h:114
vpControlFrameType
Definition: vpRobot.h:76
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:82
static const double maxRotationVelocityDefault
Definition: vpRobot.h:100
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
vpControlFrameType getRobotFrame(void) const
Definition: vpRobot.h:173
double * qmax
Definition: vpRobot.h:115
int areJointLimitsAvailable
Definition: vpRobot.h:113
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:111
vpRobotStateType
Definition: vpRobot.h:65
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:68
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:67
@ STATE_ACCELERATION_CONTROL
Initialize the acceleration controller.
Definition: vpRobot.h:69
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:66
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:109
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
double maxTranslationVelocity
Definition: vpRobot.h:97
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:107
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
double maxRotationVelocity
Definition: vpRobot.h:99
bool verbose_
Definition: vpRobot.h:117
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.