Visual Servoing Platform  version 3.6.0 under development (2023-09-25)
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 {
67  STATE_FORCE_TORQUE_CONTROL
68  } vpRobotStateType;
69 
73  typedef enum {
74  REFERENCE_FRAME,
76  ARTICULAR_FRAME,
78  JOINT_STATE = ARTICULAR_FRAME,
80  CAMERA_FRAME,
82  TOOL_FRAME = CAMERA_FRAME,
84  MIXT_FRAME
87  } vpControlFrameType;
88 
89 private: /* Membres privees */
90  vpRobot::vpRobotStateType stateRobot;
91  vpRobot::vpControlFrameType frameRobot;
92 
93 protected:
95  static const double maxTranslationVelocityDefault; // = 0.2;
97  static const double maxRotationVelocityDefault; // = 0.7;
98 
100  int nDof;
109 
111  double *qmin;
112  double *qmax;
113 
114  bool verbose_;
115 
116 public:
117  vpRobot(void);
118  vpRobot(const vpRobot &robot);
119  virtual ~vpRobot();
120 
123 
124  //---------- Jacobian -----------------------------
126  virtual void get_eJe(vpMatrix &_eJe) = 0;
129  virtual void get_fJe(vpMatrix &_fJe) = 0;
130 
133  virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) = 0;
134 
135  double getMaxTranslationVelocity(void) const;
136  double getMaxRotationVelocity(void) const;
138  virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position) = 0;
139 
140  // Return the robot position (frame has to be specified).
141  vpColVector getPosition(const vpRobot::vpControlFrameType frame);
142  virtual vpRobotStateType getRobotState(void) const { return stateRobot; }
143 
144  virtual void init() = 0;
145 
146  vpRobot &operator=(const vpRobot &robot);
147 
148  void setMaxRotationVelocity(double maxVr);
149  void setMaxTranslationVelocity(double maxVt);
151  virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) = 0;
152  virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);
153 
156  virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) = 0;
157  inline void setVerbose(bool verbose) { verbose_ = verbose; };
158 
160 
163  static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose = false);
165 
166 protected:
169  vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame);
170  vpControlFrameType getRobotFrame(void) const { return frameRobot; }
172 };
173 
174 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:167
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:152
Class that defines a generic virtual robot.
Definition: vpRobot.h:57
int nDof
number of degrees of freedom
Definition: vpRobot.h:100
static const double maxTranslationVelocityDefault
Definition: vpRobot.h:95
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition: vpRobot.h:102
void setVerbose(bool verbose)
Definition: vpRobot.h:157
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:142
double * qmin
Definition: vpRobot.h:111
vpControlFrameType
Definition: vpRobot.h:73
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:79
static const double maxRotationVelocityDefault
Definition: vpRobot.h:97
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:170
double * qmax
Definition: vpRobot.h:112
int areJointLimitsAvailable
Definition: vpRobot.h:110
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:108
vpRobotStateType
Definition: vpRobot.h:62
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:65
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:64
@ STATE_ACCELERATION_CONTROL
Initialize the acceleration controller.
Definition: vpRobot.h:66
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:63
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:106
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
double maxTranslationVelocity
Definition: vpRobot.h:94
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:104
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
double maxRotationVelocity
Definition: vpRobot.h:96
bool verbose_
Definition: vpRobot.h:114
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.