Visual Servoing Platform  version 3.2.1 under development (2019-07-18)
vpViper.h
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2  *
3  * ViSP, open source Visual Servoing Platform software.
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10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
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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.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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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  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpViper_h
40 #define vpViper_h
41 
50 #include <visp3/core/vpCameraParameters.h>
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpImage.h>
53 #include <visp3/core/vpRGBa.h>
54 #include <visp3/core/vpVelocityTwistMatrix.h>
55 #include <visp3/robot/vpRobotException.h>
56 
113 class VISP_EXPORT vpViper
114 {
115 public:
116  vpViper();
117  virtual ~vpViper(){};
118 
121  vpHomogeneousMatrix getForwardKinematics(const vpColVector &q) const;
122  unsigned int getInverseKinematicsWrist(const vpHomogeneousMatrix &fMw, vpColVector &q,
123  const bool &verbose = false) const;
124  unsigned int getInverseKinematics(const vpHomogeneousMatrix &fMc, vpColVector &q, const bool &verbose = false) const;
125  vpHomogeneousMatrix get_fMc(const vpColVector &q) const;
126  void get_fMw(const vpColVector &q, vpHomogeneousMatrix &fMw) const;
127  void get_wMe(vpHomogeneousMatrix &wMe) const;
128  void get_eMc(vpHomogeneousMatrix &eMc) const;
129  void get_eMs(vpHomogeneousMatrix &eMs) const;
130  void get_fMe(const vpColVector &q, vpHomogeneousMatrix &fMe) const;
131  void get_fMc(const vpColVector &q, vpHomogeneousMatrix &fMc) const;
132 
133  void get_cMe(vpHomogeneousMatrix &cMe) const;
134  void get_cVe(vpVelocityTwistMatrix &cVe) const;
135  void get_fJw(const vpColVector &q, vpMatrix &fJw) const;
136  void get_fJe(const vpColVector &q, vpMatrix &fJe) const;
137  void get_eJe(const vpColVector &q, vpMatrix &eJe) const;
138 
139  virtual void set_eMc(const vpHomogeneousMatrix &eMc_);
140  virtual void set_eMc(const vpTranslationVector &etc_, const vpRxyzVector &erc_);
141 
142  vpColVector getJointMin() const;
143  vpColVector getJointMax() const;
144  double getCoupl56() const;
146 
147  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpViper &viper);
148 
149 private:
150  bool convertJointPositionInLimits(unsigned int joint, const double &q, double &q_mod,
151  const bool &verbose = false) const;
152 
153 public:
154  static const unsigned int njoint;
155 
156 protected:
158  // Minimal representation of eMc
160  vpRxyzVector erc; // radian
161 
162  // Denavit-Hartenberg parameters
163  double a1, d1;
164  double a2;
165  double a3;
166  double d4;
167  double d6;
168  double d7;
169  double c56;
170 
171  // Software joint limits in radians
172  vpColVector joint_max; // Maximal value of the joints
173  vpColVector joint_min; // Minimal value of the joints
174 };
175 
176 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:164
double d7
for force/torque location
Definition: vpViper.h:168
double a3
for joint 3
Definition: vpViper.h:165
vpHomogeneousMatrix eMc
End effector to camera transformation.
Definition: vpViper.h:157
Modelisation of the ADEPT Viper robot.
Definition: vpViper.h:113
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpRxyzVector erc
Definition: vpViper.h:160
double a2
for joint 2
Definition: vpViper.h:164
virtual ~vpViper()
Definition: vpViper.h:117
double d1
for joint 1
Definition: vpViper.h:163
double c56
Mechanical coupling between joint 5 and joint 6.
Definition: vpViper.h:169
vpTranslationVector etc
Definition: vpViper.h:159
vpColVector joint_max
Definition: vpViper.h:172
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
double d4
for joint 4
Definition: vpViper.h:166
Class that consider the case of a translation vector.
static const unsigned int njoint
Number of joint.
Definition: vpViper.h:154
double d6
for joint 6
Definition: vpViper.h:167
vpColVector joint_min
Definition: vpViper.h:173