Visual Servoing Platform  version 3.2.1 under development (2019-09-22) under development (2019-09-22)
vpRobot.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  * 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 
58 class VISP_EXPORT vpRobot
59 {
60 public:
64  typedef enum {
69  STATE_FORCE_TORQUE_CONTROL
71 
75  typedef enum {
76  REFERENCE_FRAME,
78  ARTICULAR_FRAME,
80  JOINT_STATE = ARTICULAR_FRAME,
82  CAMERA_FRAME,
84  TOOL_FRAME = CAMERA_FRAME,
86  MIXT_FRAME
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;
140  virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) = 0;
141 
142  // Return the robot position (frame has to be specified).
143  vpColVector getPosition(const vpRobot::vpControlFrameType frame);
144  virtual vpRobotStateType getRobotState(void) const { return stateRobot; }
145 
146  virtual void init() = 0;
147 
148  vpRobot &operator=(const vpRobot &robot);
149 
150  void setMaxRotationVelocity(const double maxVr);
151  void setMaxTranslationVelocity(const double maxVt);
153  virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) = 0;
154  virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);
155 
158  virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) = 0;
159  inline void setVerbose(bool verbose) { verbose_ = verbose; };
160 
162 
165  static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose = false);
167 
168 protected:
171  vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame);
172  vpControlFrameType getRobotFrame(void) const { return frameRobot; }
174 };
175 
176 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
double maxTranslationVelocity
Definition: vpRobot.h:96
void setVerbose(bool verbose)
Definition: vpRobot.h:159
double * qmax
Definition: vpRobot.h:114
double maxRotationVelocity
Definition: vpRobot.h:98
Initialize the position controller.
Definition: vpRobot.h:67
Class that defines a generic virtual robot.
Definition: vpRobot.h:58
vpControlFrameType
Definition: vpRobot.h:75
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:106
static const double maxTranslationVelocityDefault
Definition: vpRobot.h:97
Initialize the velocity controller.
Definition: vpRobot.h:66
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:144
vpRobotStateType
Definition: vpRobot.h:64
bool verbose_
Definition: vpRobot.h:116
Initialize the acceleration controller.
Definition: vpRobot.h:68
static const double maxRotationVelocityDefault
Definition: vpRobot.h:99
int areJointLimitsAvailable
Definition: vpRobot.h:112
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:65
int nDof
number of degrees of freedom
Definition: vpRobot.h:102
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition: vpRobot.h:104
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
double * qmin
Definition: vpRobot.h:113
vpControlFrameType getRobotFrame(void) const
Definition: vpRobot.h:172
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:110
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:108