Visual Servoing Platform  version 3.6.1 under development (2024-03-04)
vpRobot.h
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30  *
31  * Description:
32  * Generic virtual robot.
33  *
34 *****************************************************************************/
35 
36 #ifndef vpRobot_H
37 #define vpRobot_H
38 
44 #include <visp3/core/vpColVector.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpMatrix.h>
47 #include <visp3/core/vpPoseVector.h>
48 
56 class VISP_EXPORT vpRobot
57 {
58 public:
62  typedef enum
63  {
68  STATE_FORCE_TORQUE_CONTROL
69  } vpRobotStateType;
70 
74  typedef enum
75  {
76  REFERENCE_FRAME,
78  ARTICULAR_FRAME,
80  JOINT_STATE = ARTICULAR_FRAME,
82  CAMERA_FRAME,
84  TOOL_FRAME = CAMERA_FRAME,
86  MIXT_FRAME
89  } vpControlFrameType;
90 
91 private: /* Membres privees */
92  vpRobot::vpRobotStateType stateRobot;
93  vpRobot::vpControlFrameType frameRobot;
94 
95 protected:
97  static const double maxTranslationVelocityDefault; // = 0.2;
99  static const double maxRotationVelocityDefault; // = 0.7;
100 
102  int nDof;
111 
113  double *qmin;
114  double *qmax;
115 
116  bool verbose_;
117 
118 public:
119  vpRobot(void);
120  vpRobot(const vpRobot &robot);
121  virtual ~vpRobot();
122 
125 
126  //---------- Jacobian -----------------------------
128  virtual void get_eJe(vpMatrix &_eJe) = 0;
131  virtual void get_fJe(vpMatrix &_fJe) = 0;
132 
135  virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) = 0;
136 
137  double getMaxTranslationVelocity(void) const;
138  double getMaxRotationVelocity(void) const;
139 
143  int getNDof() const
144  {
145  return nDof;
146  }
147 
149  virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position) = 0;
150 
151  // Return the robot position (frame has to be specified).
152  vpColVector getPosition(const vpRobot::vpControlFrameType frame);
153  virtual vpRobotStateType getRobotState(void) const { return stateRobot; }
154 
155  virtual void init() = 0;
156 
157  vpRobot &operator=(const vpRobot &robot);
158 
159  void setMaxRotationVelocity(double maxVr);
160  void setMaxTranslationVelocity(double maxVt);
162  virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) = 0;
163  virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);
164 
167  virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) = 0;
168  inline void setVerbose(bool verbose) { verbose_ = verbose; };
169 
171 
174  static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose = false);
176 
177 protected:
180  vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame);
181  vpControlFrameType getRobotFrame(void) const { return frameRobot; }
183 };
184 
185 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Class that defines a generic virtual robot.
Definition: vpRobot.h:57
int nDof
number of degrees of freedom
Definition: vpRobot.h:102
static const double maxTranslationVelocityDefault
Definition: vpRobot.h:97
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition: vpRobot.h:104
void setVerbose(bool verbose)
Definition: vpRobot.h:168
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:153
double * qmin
Definition: vpRobot.h:113
vpControlFrameType
Definition: vpRobot.h:75
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:81
static const double maxRotationVelocityDefault
Definition: vpRobot.h:99
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:181
double * qmax
Definition: vpRobot.h:114
int areJointLimitsAvailable
Definition: vpRobot.h:112
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:110
vpRobotStateType
Definition: vpRobot.h:63
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:66
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:65
@ STATE_ACCELERATION_CONTROL
Initialize the acceleration controller.
Definition: vpRobot.h:67
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:64
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:108
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
double maxTranslationVelocity
Definition: vpRobot.h:96
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:106
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
double maxRotationVelocity
Definition: vpRobot.h:98
bool verbose_
Definition: vpRobot.h:116
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
int getNDof() const
Definition: vpRobot.h:143