Visual Servoing Platform  version 3.6.1 under development (2024-05-26)
vpSimulatorCamera.cpp
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30  *
31  * Description:
32  * Defines the simplest robot : a free flying camera.
33  *
34 *****************************************************************************/
35 
41 #include <visp3/core/vpDebug.h>
42 #include <visp3/core/vpExponentialMap.h>
43 #include <visp3/core/vpHomogeneousMatrix.h>
44 #include <visp3/robot/vpRobotException.h>
45 #include <visp3/robot/vpSimulatorCamera.h>
46 
53 
61 void vpSimulatorCamera::init()
62 {
63  nDof = 6;
64  eJe.eye(6, 6);
65  eJeAvailable = true;
66  fJeAvailable = false;
68  qmin = nullptr;
69  qmax = nullptr;
70 
71  setMaxTranslationVelocity(1.); // vx, vy and vz max set to 1 m/s
72  setMaxRotationVelocity(vpMath::rad(90)); // wx, wy and wz max set to 90 deg/s
73 }
74 
86 {
88  cVe = cVe_;
89 }
90 
99 void vpSimulatorCamera::get_eJe(vpMatrix &eJe_) { eJe_ = this->eJe; }
100 
105 void vpSimulatorCamera::getPosition(vpHomogeneousMatrix &wMc) const { wMc = this->wMc_; }
111 
112 /*
113  Get the current position of the camera.
114 
115  \param frame : Control frame type in which to get the position, either :
116  - in the camera cartesien frame,
117  - joint (articular) coordinates of each axes
118  - in a reference or fixed cartesien frame attached to the robot base
119  - in a mixt cartesien frame (translation in reference frame, and rotation in
120  camera frame)
121 
122  \param position : Measured position of the robot:
123  - in camera cartesien frame, a 6 dimension vector, set to 0.
124 
125  - in articular, a 6 dimension vector corresponding to the articular
126  position of each dof, first the 3 translations, then the 3
127  articular rotation positions represented by a vpRxyzVector.
128 
129  - in reference frame, a 6 dimension vector, the first 3 values correspond to
130  the translation tx, ty, tz in meters (like a vpTranslationVector), and the
131  last 3 values to the rx, ry, rz rotation (like a vpRxyzVector).
132 */
134 {
135  q.resize(6);
136 
137  switch (frame) {
139  q = 0;
140  break;
141 
144  // Convert wMc_ to a position
145  // From fMc extract the pose
146  vpRotationMatrix wRc;
147  this->wMc_.extract(wRc);
148  vpRxyzVector rxyz;
149  rxyz.build(wRc);
150 
151  for (unsigned int i = 0; i < 3; i++) {
152  q[i] = this->wMc_[i][3]; // translation x,y,z
153  q[i + 3] = rxyz[i]; // Euler rotation x,y,z
154  }
155 
156  break;
157  }
158  case vpRobot::MIXT_FRAME:
159  std::cout << "MIXT_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
160  break;
162  std::cout << "END_EFFECTOR_FRAME is not implemented in vpSimulatorCamera::getPosition()" << std::endl;
163  break;
164  }
165 }
166 
190 {
193  }
194 
195  switch (frame) {
197  case vpRobot::CAMERA_FRAME: {
198  vpColVector v_max(6);
199 
200  for (unsigned int i = 0; i < 3; i++)
201  v_max[i] = getMaxTranslationVelocity();
202  for (unsigned int i = 3; i < 6; i++)
203  v_max[i] = getMaxRotationVelocity();
204 
205  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);
206 
208  setRobotFrame(frame);
209  break;
210  }
212  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the reference frame:"
213  "functionality not implemented");
214  break;
215  case vpRobot::MIXT_FRAME:
216  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the mixt frame:"
217  "functionality not implemented");
218 
219  break;
221  throw vpRobotException(vpRobotException::wrongStateError, "Cannot set a velocity in the end-effector frame:"
222  "functionality not implemented");
223 
224  break;
225  }
226 }
227 
234 {
237  }
238 
239  this->wMc_ = wMc;
240 }
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
void resize(unsigned int i, bool flagNullify=true)
Definition: vpColVector.h:1058
static vpHomogeneousMatrix direct(const vpColVector &v)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void extract(vpRotationMatrix &R) const
static double rad(double deg)
Definition: vpMath.h:127
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
void eye()
Definition: vpMatrix.cpp:448
Error that can be emitted by the vpRobot class and its derivatives.
@ wrongStateError
Wrong robot state.
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
virtual vpRobotStateType getRobotState(void) const
Definition: vpRobot.h:153
double * qmin
Definition: vpRobot.h:113
static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)
Definition: vpRobot.cpp:160
vpControlFrameType
Definition: vpRobot.h:75
@ REFERENCE_FRAME
Definition: vpRobot.h:76
@ ARTICULAR_FRAME
Definition: vpRobot.h:78
@ MIXT_FRAME
Definition: vpRobot.h:86
@ CAMERA_FRAME
Definition: vpRobot.h:82
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:81
double * qmax
Definition: vpRobot.h:114
int areJointLimitsAvailable
Definition: vpRobot.h:112
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition: vpRobot.h:110
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition: vpRobot.h:66
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:65
double getMaxRotationVelocity(void) const
Definition: vpRobot.cpp:270
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:198
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition: vpRobot.h:106
double getMaxTranslationVelocity(void) const
Definition: vpRobot.cpp:248
void setMaxRotationVelocity(double maxVr)
Definition: vpRobot.cpp:257
vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame)
Definition: vpRobot.cpp:204
void setMaxTranslationVelocity(double maxVt)
Definition: vpRobot.cpp:236
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:177
vpRxyzVector & build(const vpRotationMatrix &R)
vpHomogeneousMatrix wMc_
void setPosition(const vpHomogeneousMatrix &wMc)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
void get_eJe(vpMatrix &eJe) vp_override
vpHomogeneousMatrix getPosition() const
void get_cVe(vpVelocityTwistMatrix &cVe) const