RobotTemplate

class RobotTemplate(self)

Bases: Robot

Class that defines a robot just to show which function you must implement.

Default constructor.

Methods

__init__

Default constructor.

getDisplacement

getPosition

Overloaded function.

get_eJe

Get the robot Jacobian expressed in the end-effector frame.

get_eMc

Return constant transformation between end-effector and tool frame.

get_fJe

Get the robot Jacobian expressed in the robot reference frame.

setPosition

setVelocity

set_eMc

Set constant transformation between end-effector and tool frame.

Inherited Methods

STATE_VELOCITY_CONTROL

MIXT_FRAME

getNDof

Return robot degrees of freedom number.

RobotStateType

Robot control frames.

setRobotState

REFERENCE_FRAME

STATE_POSITION_CONTROL

ControlFrameType

Robot control frames.

STATE_ACCELERATION_CONTROL

setVerbose

CAMERA_FRAME

getMaxTranslationVelocity

Get the maximal translation velocity that can be sent to the robot during a velocity control.

setMaxRotationVelocity

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

TOOL_FRAME

JOINT_STATE

STATE_STOP

END_EFFECTOR_FRAME

ARTICULAR_FRAME

saturateVelocities

Saturate velocities.

setMaxTranslationVelocity

Set the maximal translation velocity that can be sent to the robot during a velocity control.

STATE_FORCE_TORQUE_CONTROL

getMaxRotationVelocity

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

getRobotState

Operators

__doc__

__init__

Default constructor.

__module__

Attributes

ARTICULAR_FRAME

CAMERA_FRAME

END_EFFECTOR_FRAME

JOINT_STATE

MIXT_FRAME

REFERENCE_FRAME

STATE_ACCELERATION_CONTROL

STATE_FORCE_TORQUE_CONTROL

STATE_POSITION_CONTROL

STATE_STOP

STATE_VELOCITY_CONTROL

TOOL_FRAME

__annotations__

class ControlFrameType(self, value: int)

Bases: pybind11_object

Robot control frames.

Values:

  • REFERENCE_FRAME: Corresponds to a fixed reference frame attached to the robot structure.

  • ARTICULAR_FRAME: Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE .

  • JOINT_STATE: Corresponds to the joint state.

  • END_EFFECTOR_FRAME: Corresponds to robot end-effector frame.

  • CAMERA_FRAME: Corresponds to a frame attached to the camera mounted on the robot end-effector.

  • TOOL_FRAME: Corresponds to a frame attached to the tool (camera, gripper…) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME .

  • MIXT_FRAME: Corresponds to a “virtual” frame where translations are expressed in the reference frame, and rotations in the camera frame.

__and__(self, other: object) → object
__eq__(self, other: object) → bool
__ge__(self, other: object) → bool
__getstate__(self) → int
__gt__(self, other: object) → bool
__hash__(self) → int
__index__(self) → int
__init__(self, value: int)
__int__(self) → int
__invert__(self) → object
__le__(self, other: object) → bool
__lt__(self, other: object) → bool
__ne__(self, other: object) → bool
__or__(self, other: object) → object
__rand__(self, other: object) → object
__ror__(self, other: object) → object
__rxor__(self, other: object) → object
__setstate__(self, state: int) → None
__xor__(self, other: object) → object
property name : str
class RobotStateType(self, value: int)

Bases: pybind11_object

Robot control frames.

Values:

  • REFERENCE_FRAME: Corresponds to a fixed reference frame attached to the robot structure.

  • ARTICULAR_FRAME: Corresponds to the joint state. This value is deprecated. You should rather use vpRobot::JOINT_STATE .

  • JOINT_STATE: Corresponds to the joint state.

  • END_EFFECTOR_FRAME: Corresponds to robot end-effector frame.

  • CAMERA_FRAME: Corresponds to a frame attached to the camera mounted on the robot end-effector.

  • TOOL_FRAME: Corresponds to a frame attached to the tool (camera, gripper…) mounted on the robot end-effector. This value is equal to vpRobot::CAMERA_FRAME .

  • MIXT_FRAME: Corresponds to a “virtual” frame where translations are expressed in the reference frame, and rotations in the camera frame.

__and__(self, other: object) → object
__eq__(self, other: object) → bool
__ge__(self, other: object) → bool
__getstate__(self) → int
__gt__(self, other: object) → bool
__hash__(self) → int
__index__(self) → int
__init__(self, value: int)
__int__(self) → int
__invert__(self) → object
__le__(self, other: object) → bool
__lt__(self, other: object) → bool
__ne__(self, other: object) → bool
__or__(self, other: object) → object
__rand__(self, other: object) → object
__ror__(self, other: object) → object
__rxor__(self, other: object) → object
__setstate__(self, state: int) → None
__xor__(self, other: object) → object
property name : str
__init__(self)

Default constructor.

getDisplacement(self, frame: visp._visp.robot.Robot.ControlFrameType, q: visp._visp.core.ColVector) → None
getMaxRotationVelocity(self) → float

Get the maximal rotation velocity that can be sent to the robot during a velocity control.

Returns:

Maximum rotation velocity expressed in rad/s.

getMaxTranslationVelocity(self) → float

Get the maximal translation velocity that can be sent to the robot during a velocity control.

Returns:

Maximum translational velocity expressed in m/s.

getNDof(self) → int

Return robot degrees of freedom number.

getPosition(*args, **kwargs)

Overloaded function.

  1. getPosition(self: visp._visp.robot.RobotTemplate, frame: visp._visp.robot.Robot.ControlFrameType, q: visp._visp.core.ColVector) -> None

  2. getPosition(self: visp._visp.robot.Robot, frame: visp._visp.robot.Robot.ControlFrameType) -> visp._visp.core.ColVector

getRobotState(self) → visp._visp.robot.Robot.RobotStateType
get_eJe(self, eJe_: visp._visp.core.Matrix) → None

Get the robot Jacobian expressed in the end-effector frame.

Parameters:
eJe_: visp._visp.core.Matrix

End-effector frame Jacobian.

get_eMc(self) → visp._visp.core.HomogeneousMatrix

Return constant transformation between end-effector and tool frame. If your tool is a camera, this transformation is obtained by hand-eye calibration.

get_fJe(self, fJe_: visp._visp.core.Matrix) → None

Get the robot Jacobian expressed in the robot reference frame.

Parameters:
fJe_: visp._visp.core.Matrix

Base (or reference) frame Jacobian.

static saturateVelocities(v_in: visp._visp.core.ColVector, v_max: visp._visp.core.ColVector, verbose: bool = false) → visp._visp.core.ColVector

Saturate velocities.

The code below shows how to use this static method in order to saturate a velocity skew vector.

#include <iostream>

#include <visp3/robot/vpRobot.h>

#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif

int main()
{
  // Set a velocity skew vector
  vpColVector v(6);
  v[0] = 0.1;               // vx in m/s
  v[1] = 0.2;               // vy
  v[2] = 0.3;               // vz
  v[3] = vpMath::rad(10);   // wx in rad/s
  v[4] = vpMath::rad(-10);  // wy
  v[5] = vpMath::rad(20);   // wz

  // Set the maximal allowed velocities
  vpColVector v_max(6);
  for (int i=0; i<3; i++)
    v_max[i] = 0.3;             // in translation (m/s)
  for (int i=3; i<6; i++)
    v_max[i] = vpMath::rad(10); // in rotation (rad/s)

  // Compute the saturated velocity skew vector
  vpColVector v_sat = vpRobot::saturateVelocities(v, v_max, true);

  std::cout << "v    : " << v.t() << std::endl;
  std::cout << "v max: " << v_max.t() << std::endl;
  std::cout << "v sat: " << v_sat.t() << std::endl;

  return 0;
}
Parameters:
v_in: visp._visp.core.ColVector

Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.

v_max: visp._visp.core.ColVector

Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.

verbose: bool = false

Print a message indicating which axis causes the saturation.

Returns:

Saturated velocities.

setMaxRotationVelocity(self, maxVr: float) → None

Set the maximal rotation velocity that can be sent to the robot during a velocity control.

setMaxTranslationVelocity(self, maxVt: float) → None

Set the maximal translation velocity that can be sent to the robot during a velocity control.

setPosition(self, frame: visp._visp.robot.Robot.ControlFrameType, q: visp._visp.core.ColVector) → None
setRobotState(self, newState: visp._visp.robot.Robot.RobotStateType) → visp._visp.robot.Robot.RobotStateType
setVelocity(self, frame: visp._visp.robot.Robot.ControlFrameType, vel: visp._visp.core.ColVector) → None
setVerbose(self, verbose: bool) → None
set_eMc(self, eMc: visp._visp.core.HomogeneousMatrix) → None

Set constant transformation between end-effector and tool frame. If your tool is a camera, this transformation is obtained by hand-eye calibration.