Visual Servoing Platform  version 3.6.1 under development (2024-06-22)
vpViper.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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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 https://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  *
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26  * Inria at visp@inria.fr
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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  * Interface for a generic ADEPT Viper (either 650 or 850) robot.
33  *
34 *****************************************************************************/
35 
44 #ifndef vpViper_h
45 #define vpViper_h
46 
47 #include <visp3/core/vpCameraParameters.h>
48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpHomogeneousMatrix.h>
50 #include <visp3/core/vpImage.h>
51 #include <visp3/core/vpRGBa.h>
52 #include <visp3/core/vpVelocityTwistMatrix.h>
53 #include <visp3/robot/vpRobotException.h>
54 
112 class VISP_EXPORT vpViper
113 {
114 public:
115  vpViper();
116  virtual ~vpViper() { };
117 
120  vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
121  unsigned int getInverseKinematicsWrist(const vpHomogeneousMatrix &fMw, vpColVector &q,
122  const bool &verbose = false) const;
123  unsigned int getInverseKinematics(const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &verbose = false) const;
124  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
125  void get_fMw(const vpColVector &q, vpHomogeneousMatrix &fMw) const;
126  void get_wMe(vpHomogeneousMatrix &wMe) const;
127  void get_eMc(vpHomogeneousMatrix &eMc) const;
128  void get_eMs(vpHomogeneousMatrix &eMs) const;
129  void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
130  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
131 
132  void get_cMe(vpHomogeneousMatrix &cMe) const;
133  void get_cVe(vpVelocityTwistMatrix &cVe) const;
134  void get_fJw(const vpColVector &q, vpMatrix &fJw) const;
135  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
136  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
137 
138  virtual void set_eMc(const vpHomogeneousMatrix &eMc_);
139  virtual void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);
140 
141  vpColVector getJointMin() const;
142  vpColVector getJointMax() const;
143  double getCoupl56() const;
145 
146  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpViper &viper);
147 
148 private:
149  bool convertJointPositionInLimits(unsigned int joint, const double &q, double &q_mod,
150  const bool &verbose = false) const;
151 
152 public:
153  static const unsigned int njoint;
154 
155 protected:
157  // Minimal representation of eMc
159  vpRxyzVector erc; // radian
160 
161  // Denavit-Hartenberg parameters
162  double a1, d1;
163  double a2;
164  double a3;
165  double d4;
166  double d6;
167  double d7;
168  double c56;
169 
170  // Software joint limits in radians
171  vpColVector joint_max; // Maximal value of the joints
172  vpColVector joint_min; // Minimal value of the joints
173 };
175 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:171
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:151
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:179
Class that consider the case of a translation vector.
Modelization of the ADEPT Viper robot.
Definition: vpViper.h:113
vpTranslationVector etc
Definition: vpViper.h:158
double d6
for joint 6
Definition: vpViper.h:166
double a3
for joint 3
Definition: vpViper.h:164
static const unsigned int njoint
Number of joint.
Definition: vpViper.h:153
double d4
for joint 4
Definition: vpViper.h:165
vpColVector joint_max
Definition: vpViper.h:171
double c56
Mechanical coupling between joint 5 and joint 6.
Definition: vpViper.h:168
vpHomogeneousMatrix eMc
End effector to camera transformation.
Definition: vpViper.h:156
virtual ~vpViper()
Definition: vpViper.h:116
double a1
Definition: vpViper.h:162
vpRxyzVector erc
Definition: vpViper.h:159
vpColVector joint_min
Definition: vpViper.h:172
double a2
for joint 2
Definition: vpViper.h:163
double d7
for force/torque location
Definition: vpViper.h:167