vpSimulatorAfma6.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Class which provides a simulator for the robot Afma6.
 */
 
#ifndef vpSimulatorAfma6_HH
#define vpSimulatorAfma6_HH
 
#include <visp3/robot/vpAfma6.h>
#include <visp3/robot/vpRobotWireFrameSimulator.h>
 
#include <string>
 
#if defined(VISP_HAVE_MODULE_GUI) && defined(VISP_HAVE_THREADS)
 
class VISP_EXPORT vpSimulatorAfma6 : public vpRobotWireFrameSimulator, public vpAfma6
{
public:
  static const double defaultPositioningVelocity;
 
private:
  vpColVector q_prev_getdis;
  bool first_time_getdis;
 
  double positioningVelocity;
 
  vpColVector zeroPos;
  vpColVector reposPos;
 
  bool toolCustom;
  std::string arm_dir;
 
public:
  vpSimulatorAfma6();
  explicit vpSimulatorAfma6(bool display);
  virtual ~vpSimulatorAfma6() vp_override;
 
  void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height);
  void getCameraParameters(vpCameraParameters &cam, const vpImage<unsigned char> &I);
  void getCameraParameters(vpCameraParameters &cam, const vpImage<vpRGBa> &I);
  void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &displacement) vp_override;
  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q) vp_override;
  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp);
  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position);
  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &position, double &timestamp);
  double getPositioningVelocity(void) { return positioningVelocity; }
  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q);
  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &q, double &timestamp);
  vpColVector getVelocity(const vpRobot::vpControlFrameType frame);
  vpColVector getVelocity(const vpRobot::vpControlFrameType frame, double &timestamp);
 
  void get_cMe(vpHomogeneousMatrix &cMe);
  void get_cVe(vpVelocityTwistMatrix &cVe);
  void get_eJe(vpMatrix &eJe) vp_override;
  void get_fJe(vpMatrix &fJe) vp_override;
 
  void
    init(vpAfma6::vpAfma6ToolType tool,
         vpCameraParameters::vpCameraParametersProjType projModel = vpCameraParameters::perspectiveProjWithoutDistortion);
  bool initialiseCameraRelativeToObject(const vpHomogeneousMatrix &cMo);
  void initialiseObjectRelativeToCamera(const vpHomogeneousMatrix &cMo);
 
  void move(const char *filename);
 
  static bool readPosFile(const std::string &filename, vpColVector &q);
  static bool savePosFile(const std::string &filename, const vpColVector &q);
  void setCameraParameters(const vpCameraParameters &cam);
  void setJointLimit(const vpColVector &limitMin, const vpColVector &limitMax);
 
  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) vp_override;
  void setPosition(const vpRobot::vpControlFrameType frame, double pos1, double pos2, double pos3, double pos4,
                   double pos5, double pos6);
  void setPosition(const char *filename);
  void setPositioningVelocity(double vel) { positioningVelocity = vel; }
  bool setPosition(const vpHomogeneousMatrix &cdMo, vpImage<unsigned char> *Iint = nullptr, const double &errMax = 0.001);
  vpRobot::vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState) vp_override;
 
  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &velocity) vp_override;
 
  void stopMotion();
 
protected:
  void computeArticularVelocity() vp_override;
  void compute_fMi();
  void findHighestPositioningSpeed(vpColVector &q);
  void getExternalImage(vpImage<vpRGBa> &I);
  inline void get_fMi(vpHomogeneousMatrix *fMit) vp_override
  {
    m_mutex_fMi.lock();
    for (int i = 0; i < 8; i++) {
      fMit[i] = fMi[i];
    }
 
    m_mutex_fMi.unlock();
  }
  void init() vp_override;
  void initArms() vp_override;
  void initDisplay();
  int isInJointLimit() vp_override;
  bool singularityTest(const vpColVector &q, vpMatrix &J);
  void updateArticularPosition() vp_override;
};
 
#endif
 
#endif