Visual Servoing Platform  version 3.2.1 under development (2019-10-18) under development (2019-10-18)
vpViper850.cpp
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30  *
31  * Description:
32  * Interface for the ADEPT Viper 850 robot.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
47 #include <visp3/core/vpDebug.h>
48 #include <visp3/core/vpMath.h>
49 #include <visp3/core/vpXmlParserCamera.h>
50 #include <visp3/robot/vpViper850.h>
51 
52 static const char *opt_viper850[] = {"CAMERA", "eMc_ROT_XYZ", "eMc_TRANS_XYZ", NULL};
53 
54 #ifdef VISP_HAVE_VIPER850_DATA
56  std::string(VISP_VIPER850_DATA_PATH) +
57  std::string("/include/const_eMc_MarlinF033C_without_distortion_Viper850.cnf");
58 
60  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_eMc_MarlinF033C_with_distortion_Viper850.cnf");
61 
63  std::string(VISP_VIPER850_DATA_PATH) +
64  std::string("/include/const_eMc_PTGreyFlea2_without_distortion_Viper850.cnf");
65 
67  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_eMc_PTGreyFlea2_with_distortion_Viper850.cnf");
68 
70  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/"
71  "const_eMc_schunk_gripper_without_distortion_Viper850."
72  "cnf");
73 
75  std::string(VISP_VIPER850_DATA_PATH) +
76  std::string("/include/const_eMc_schunk_gripper_with_distortion_Viper850.cnf");
77 
79  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_eMc_generic_without_distortion_Viper850.cnf");
80 
82  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_eMc_generic_with_distortion_Viper850.cnf");
83 
84 const std::string vpViper850::CONST_CAMERA_FILENAME =
85  std::string(VISP_VIPER850_DATA_PATH) + std::string("/include/const_camera_Viper850.xml");
86 
87 #endif // VISP_HAVE_VIPER850_DATA
88 
89 const char *const vpViper850::CONST_MARLIN_F033C_CAMERA_NAME = "Marlin-F033C-12mm";
90 const char *const vpViper850::CONST_PTGREY_FLEA2_CAMERA_NAME = "PTGrey-Flea2-6mm";
91 const char *const vpViper850::CONST_SCHUNK_GRIPPER_CAMERA_NAME = "Schunk-Gripper-PTGrey-Flea2-6mm";
92 const char *const vpViper850::CONST_GENERIC_CAMERA_NAME = "Generic-camera";
93 
95 
103  : tool_current(vpViper850::defaultTool), projModel(vpCameraParameters::perspectiveProjWithoutDistortion)
104 
105 {
106  // Denavit Hartenberg parameters
107  a1 = 0.075;
108  a2 = 0.365;
109  a3 = 0.090;
110  d1 = 0.335;
111  d4 = 0.405;
112  d6 = 0.080 + 0.1016; // To take into account the offset to go to the tool changer
113  c56 = -341.33 / 9102.22;
114 
115  // Software joint limits in radians
116  joint_min[0] = vpMath::rad(-170);
117  joint_min[1] = vpMath::rad(-190);
118  joint_min[2] = vpMath::rad(-29);
119  joint_min[3] = vpMath::rad(-190);
120  joint_min[4] = vpMath::rad(-120);
121  joint_min[5] = vpMath::rad(-360);
122  joint_max[0] = vpMath::rad(170);
123  joint_max[1] = vpMath::rad(45);
124  joint_max[2] = vpMath::rad(256);
125  joint_max[3] = vpMath::rad(190);
126  joint_max[4] = vpMath::rad(120);
127  joint_max[5] = vpMath::rad(360);
128 
129  init(); // Set the default tool
130 }
131 
137 {
139  return;
140 }
141 
151 void vpViper850::init(const std::string &camera_extrinsic_parameters)
152 {
153  // vpTRACE ("Parse camera file \""%s\"".", camera_filename);
154  this->parseConfigFile(camera_extrinsic_parameters);
155 
156  return;
157 }
158 
181 {
182 
183  this->projModel = proj_model;
184 
185 #ifdef VISP_HAVE_VIPER850_DATA
186  // Read the robot parameters from files
187  std::string filename_eMc;
188  switch (tool) {
190  switch (projModel) {
193  break;
196  break;
197  }
198  break;
199  }
201  switch (projModel) {
204  break;
207  break;
208  }
209  break;
210  }
212  switch (projModel) {
215  break;
218  break;
219  }
220  break;
221  }
223  switch (projModel) {
226  break;
229  break;
230  }
231  break;
232  }
235  "No predefined file available for a custom tool"
236  "You should use init(vpViper850::vpToolType, const std::string&) or"
237  "init(vpViper850::vpToolType, const vpHomogeneousMatrix&) instead");
238  }
239  default: {
240  vpERROR_TRACE("This error should not occur!");
241  // vpERROR_TRACE ("Si elle survient malgre tout, c'est sans doute "
242  // "que les specs de la classe ont ete modifiee, "
243  // "et que le code n'a pas ete mis a jour "
244  // "correctement.");
245  // vpERROR_TRACE ("Verifiez les valeurs possibles du type "
246  // "vpViper850::vpViper850ToolType, et controlez que "
247  // "tous les cas ont ete pris en compte dans la "
248  // "fonction init(camera).");
249  break;
250  }
251  }
252 
253  this->init(filename_eMc);
254 
255 #else // VISP_HAVE_VIPER850_DATA
256 
257  // Use here default values of the robot constant parameters.
258  switch (tool) {
260  switch (projModel) {
262  erc[0] = vpMath::rad(0.07); // rx
263  erc[1] = vpMath::rad(2.76); // ry
264  erc[2] = vpMath::rad(-91.50); // rz
265  etc[0] = -0.0453; // tx
266  etc[1] = 0.0005; // ty
267  etc[2] = 0.0728; // tz
268  break;
270  erc[0] = vpMath::rad(0.26); // rx
271  erc[1] = vpMath::rad(2.12); // ry
272  erc[2] = vpMath::rad(-91.31); // rz
273  etc[0] = -0.0444; // tx
274  etc[1] = -0.0005; // ty
275  etc[2] = 0.1022; // tz
276  break;
277  }
278  break;
279  }
282  switch (projModel) {
284  erc[0] = vpMath::rad(0.15); // rx
285  erc[1] = vpMath::rad(1.28); // ry
286  erc[2] = vpMath::rad(-90.8); // rz
287  etc[0] = -0.0456; // tx
288  etc[1] = -0.0013; // ty
289  etc[2] = 0.001; // tz
290  break;
292  erc[0] = vpMath::rad(0.72); // rx
293  erc[1] = vpMath::rad(2.10); // ry
294  erc[2] = vpMath::rad(-90.5); // rz
295  etc[0] = -0.0444; // tx
296  etc[1] = -0.0012; // ty
297  etc[2] = 0.078; // tz
298  break;
299  }
300  break;
301  }
303  // Set eMc to identity
304  switch (projModel) {
307  erc[0] = 0; // rx
308  erc[1] = 0; // ry
309  erc[2] = 0; // rz
310  etc[0] = 0; // tx
311  etc[1] = 0; // ty
312  etc[2] = 0; // tz
313  break;
314  }
315  break;
316  }
319  "No predefined parameters available for a custom tool"
320  "You should use init(vpViper850::vpToolType, const std::string&) or"
321  "init(vpViper850::vpToolType, const vpHomogeneousMatrix&) instead");
322  }
323  }
324  vpRotationMatrix eRc(erc);
325  this->eMc.buildFrom(etc, eRc);
326 #endif // VISP_HAVE_VIPER850_DATA
327 
328  setToolType(tool);
329  return;
330 }
331 
362 void vpViper850::init(vpViper850::vpToolType tool, const std::string &filename)
363 {
364  this->setToolType(tool);
365  this->parseConfigFile(filename.c_str());
366 }
367 
384 {
385  this->setToolType(tool);
386  this->set_eMc(eMc_);
387 }
388 
397 void vpViper850::parseConfigFile(const std::string &filename)
398 {
399  vpRxyzVector erc; // eMc rotation
400  vpTranslationVector etc; // eMc translation
401 
402  std::ifstream fdconfig(filename.c_str(), std::ios::in);
403 
404  if (!fdconfig.is_open()) {
405  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the config file: %s",
406  filename.c_str());
407  }
408 
409  std::string line;
410  int lineNum = 0;
411  bool get_erc = false;
412  bool get_etc = false;
413  int code;
414 
415  while (std::getline(fdconfig, line)) {
416  lineNum++;
417  if ((line.compare(0, 1, "#") == 0) || line.empty()) { // skip comment or empty line
418  continue;
419  }
420  std::istringstream ss(line);
421  std::string key;
422  ss >> key;
423 
424  for (code = 0; NULL != opt_viper850[code]; ++code) {
425  if (key.compare(opt_viper850[code]) == 0) {
426  break;
427  }
428  }
429 
430  switch (code) {
431  case 0:
432  break; // Nothing to do: camera name
433 
434  case 1: {
435  ss >> erc[0] >> erc[1] >> erc[2];
436 
437  // Convert rotation from degrees to radians
438  erc = erc * M_PI / 180.0;
439  get_erc = true;
440  break;
441  }
442 
443  case 2: {
444  ss >> etc[0] >> etc[1] >> etc[2];
445  get_etc = true;
446  break;
447  }
448 
449  default:
450  throw(vpRobotException(vpRobotException::readingParametersError, "Bad configuration file %s line #%d",
451  filename.c_str(), lineNum));
452  }
453  }
454 
455  fdconfig.close();
456 
457  // Compute the eMc matrix from the translations and rotations
458  if (get_etc && get_erc) {
459  this->set_eMc(etc, erc);
460  } else {
462  "Could not read translation and rotation "
463  "parameters from config file %s",
464  filename.c_str());
465  }
466 }
467 
540 void vpViper850::getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width,
541  const unsigned int &image_height) const
542 {
543 #if defined(VISP_HAVE_PUGIXML) && defined(VISP_HAVE_VIPER850_DATA)
544  vpXmlParserCamera parser;
545  switch (getToolType()) {
547  std::cout << "Get camera parameters for camera \"" << vpViper850::CONST_MARLIN_F033C_CAMERA_NAME << "\""
548  << std::endl
549  << "from the XML file: \"" << vpViper850::CONST_CAMERA_FILENAME << "\"" << std::endl;
551  image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
552  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
553  }
554  break;
555  }
557  std::cout << "Get camera parameters for camera \"" << vpViper850::CONST_PTGREY_FLEA2_CAMERA_NAME << "\""
558  << std::endl
559  << "from the XML file: \"" << vpViper850::CONST_CAMERA_FILENAME << "\"" << std::endl;
561  image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
562  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
563  }
564  break;
565  }
567  std::cout << "Get camera parameters for camera \"" << vpViper850::CONST_SCHUNK_GRIPPER_CAMERA_NAME << "\""
568  << std::endl
569  << "from the XML file: \"" << vpViper850::CONST_CAMERA_FILENAME << "\"" << std::endl;
571  image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
572  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
573  }
574  break;
575  }
577  std::cout << "Get camera parameters for camera \"" << vpViper850::CONST_GENERIC_CAMERA_NAME << "\"" << std::endl
578  << "from the XML file: \"" << vpViper850::CONST_CAMERA_FILENAME << "\"" << std::endl;
580  image_width, image_height) != vpXmlParserCamera::SEQUENCE_OK) {
581  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
582  }
583  break;
584  }
586  throw vpRobotException(vpRobotException::badValue, "No intrinsic parameters available for a custom tool");
587  }
588  default: {
589  vpERROR_TRACE("This error should not occur!");
590  // vpERROR_TRACE ("Si elle survient malgre tout, c'est sans doute "
591  // "que les specs de la classe ont ete modifiee, "
592  // "et que le code n'a pas ete mis a jour "
593  // "correctement.");
594  // vpERROR_TRACE ("Verifiez les valeurs possibles du type "
595  // "vpViper850::vpViper850ToolType, et controlez que "
596  // "tous les cas ont ete pris en compte dans la "
597  // "fonction init(camera).");
598  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
599  }
600  }
601 #else
602  // Set default parameters
603  switch (getToolType()) {
605  // Set default intrinsic camera parameters for 640x480 images
606  if (image_width == 640 && image_height == 480) {
607  std::cout << "Get default camera parameters for camera \"" << vpViper850::CONST_MARLIN_F033C_CAMERA_NAME << "\""
608  << std::endl;
609  switch (this->projModel) {
611  cam.initPersProjWithoutDistortion(1232.0, 1233.0, 317.7, 253.9);
612  break;
614  cam.initPersProjWithDistortion(1214.0, 1213.0, 323.1, 240.0, -0.1824, 0.1881);
615  break;
616  }
617  } else {
618  vpTRACE("Cannot get default intrinsic camera parameters for this image "
619  "resolution");
620  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
621  }
622  break;
623  }
626  // Set default intrinsic camera parameters for 640x480 images
627  if (image_width == 640 && image_height == 480) {
628  std::cout << "Get default camera parameters for camera \"" << vpViper850::CONST_PTGREY_FLEA2_CAMERA_NAME << "\""
629  << std::endl;
630  switch (this->projModel) {
632  cam.initPersProjWithoutDistortion(868.0, 869.0, 314.8, 254.1);
633  break;
635  cam.initPersProjWithDistortion(831.3, 831.6, 322.7, 265.8, -0.1955, 0.2047);
636  break;
637  }
638  } else {
639  vpTRACE("Cannot get default intrinsic camera parameters for this image "
640  "resolution");
641  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
642  }
643  break;
644  }
646  // Set default intrinsic camera parameters for 640x480 images
647  if (image_width == 640 && image_height == 480) {
648  std::cout << "Get default camera parameters for camera \"" << vpViper850::CONST_GENERIC_CAMERA_NAME << "\""
649  << std::endl;
650  switch (this->projModel) {
652  cam.initPersProjWithoutDistortion(868.0, 869.0, 314.8, 254.1);
653  break;
655  cam.initPersProjWithDistortion(831.3, 831.6, 322.7, 265.8, -0.1955, 0.2047);
656  break;
657  }
658  } else {
659  vpTRACE("Cannot get default intrinsic camera parameters for this image "
660  "resolution");
661  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
662  }
663  break;
664  }
666  throw vpRobotException(vpRobotException::badValue, "No intrinsic parameters available for a custom tool");
667  }
668  default:
669  vpERROR_TRACE("This error should not occur!");
670  throw vpRobotException(vpRobotException::readingParametersError, "Impossible to read the camera parameters.");
671  }
672 #endif
673  return;
674 }
675 
740 {
741  getCameraParameters(cam, I.getWidth(), I.getHeight());
742 }
808 {
809  getCameraParameters(cam, I.getWidth(), I.getHeight());
810 }
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
double a3
for joint 3
Definition: vpViper.h:165
vpHomogeneousMatrix eMc
End effector to camera transformation.
Definition: vpViper.h:157
Error that can be emited by the vpRobot class and its derivates.
static const std::string CONST_EMC_PTGREY_FLEA2_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:112
void parseConfigFile(const std::string &filename)
Definition: vpViper850.cpp:397
static const vpToolType defaultTool
Default tool attached to the robot end effector.
Definition: vpViper850.h:137
void getCameraParameters(vpCameraParameters &cam, const unsigned int &image_width, const unsigned int &image_height) const
Definition: vpViper850.cpp:540
static const std::string CONST_EMC_GENERIC_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:116
Implementation of an homogeneous matrix and operations on such kind of matrices.
#define vpERROR_TRACE
Definition: vpDebug.h:393
static const std::string CONST_CAMERA_FILENAME
Definition: vpViper850.h:117
vpRxyzVector erc
Definition: vpViper.h:160
static const char *const CONST_MARLIN_F033C_CAMERA_NAME
Definition: vpViper850.h:122
XML parser to load and save intrinsic camera parameters.
static const char *const CONST_SCHUNK_GRIPPER_CAMERA_NAME
Definition: vpViper850.h:124
double a2
for joint 2
Definition: vpViper.h:164
Implementation of a rotation matrix and operations on such kind of matrices.
static const std::string CONST_EMC_MARLIN_F033C_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:110
double d1
for joint 1
Definition: vpViper.h:163
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
double c56
Mechanical coupling between joint 5 and joint 6.
Definition: vpViper.h:169
double a1
Definition: vpViper.h:163
void setToolType(vpViper850::vpToolType tool)
Set the current tool type.
Definition: vpViper850.h:170
vpTranslationVector etc
Definition: vpViper.h:159
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
Definition: vpViper.cpp:1230
#define vpTRACE
Definition: vpDebug.h:416
static const char *const CONST_GENERIC_CAMERA_NAME
Definition: vpViper850.h:125
vpColVector joint_max
Definition: vpViper.h:172
vpToolType
List of possible tools that can be attached to the robot end-effector.
Definition: vpViper850.h:128
static const std::string CONST_EMC_GENERIC_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:115
Generic class defining intrinsic camera parameters.
Modelisation of the ADEPT Viper 850 robot.
Definition: vpViper850.h:103
static const std::string CONST_EMC_MARLIN_F033C_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:109
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
Definition: vpMath.h:108
vpToolType getToolType() const
Get the current tool type.
Definition: vpViper850.h:161
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:113
unsigned int getHeight() const
Definition: vpImage.h:186
static const std::string CONST_EMC_PTGREY_FLEA2_WITHOUT_DISTORTION_FILENAME
Definition: vpViper850.h:111
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
double d4
for joint 4
Definition: vpViper.h:166
vpCameraParameters::vpCameraParametersProjType projModel
Definition: vpViper850.h:177
void init(void)
Definition: vpViper850.cpp:136
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, const unsigned int image_width=0, const unsigned int image_height=0)
unsigned int getWidth() const
Definition: vpImage.h:244
static const std::string CONST_EMC_SCHUNK_GRIPPER_WITH_DISTORTION_FILENAME
Definition: vpViper850.h:114
Class that consider the case of a translation vector.
void initPersProjWithDistortion(const double px, const double py, const double u0, const double v0, const double kud, const double kdu)
static const char *const CONST_PTGREY_FLEA2_CAMERA_NAME
Definition: vpViper850.h:123
double d6
for joint 6
Definition: vpViper.h:167
vpColVector joint_min
Definition: vpViper.h:173