Visual Servoing Platform version 3.6.0
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vpRobot.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
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
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 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
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 * Generic virtual robot.
33 *
34*****************************************************************************/
35
36#ifndef vpRobot_H
37#define vpRobot_H
38
44#include <visp3/core/vpColVector.h>
45#include <visp3/core/vpHomogeneousMatrix.h>
46#include <visp3/core/vpMatrix.h>
47#include <visp3/core/vpPoseVector.h>
48
56class VISP_EXPORT vpRobot
57{
58public:
62 typedef enum {
67 STATE_FORCE_TORQUE_CONTROL
68 } vpRobotStateType;
69
73 typedef enum {
74 REFERENCE_FRAME,
76 ARTICULAR_FRAME,
78 JOINT_STATE = ARTICULAR_FRAME,
80 CAMERA_FRAME,
82 TOOL_FRAME = CAMERA_FRAME,
84 MIXT_FRAME
87 } vpControlFrameType;
88
89private: /* Membres privees */
92
93protected:
95 static const double maxTranslationVelocityDefault; // = 0.2;
97 static const double maxRotationVelocityDefault; // = 0.7;
98
100 int nDof;
109
111 double *qmin;
112 double *qmax;
113
115
116public:
117 vpRobot(void);
118 vpRobot(const vpRobot &robot);
119 virtual ~vpRobot();
120
123
124 //---------- Jacobian -----------------------------
126 virtual void get_eJe(vpMatrix &_eJe) = 0;
129 virtual void get_fJe(vpMatrix &_fJe) = 0;
130
133 virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q) = 0;
134
135 double getMaxTranslationVelocity(void) const;
136 double getMaxRotationVelocity(void) const;
138 virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position) = 0;
139
140 // Return the robot position (frame has to be specified).
141 vpColVector getPosition(const vpRobot::vpControlFrameType frame);
142 virtual vpRobotStateType getRobotState(void) const { return stateRobot; }
143
144 virtual void init() = 0;
145
146 vpRobot &operator=(const vpRobot &robot);
147
148 void setMaxRotationVelocity(double maxVr);
149 void setMaxTranslationVelocity(double maxVt);
151 virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q) = 0;
152 virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState);
153
156 virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) = 0;
157 inline void setVerbose(bool verbose) { verbose_ = verbose; };
158
160
163 static vpColVector saturateVelocities(const vpColVector &v_in, const vpColVector &v_max, bool verbose = false);
165
166protected:
169 vpControlFrameType setRobotFrame(vpRobot::vpControlFrameType newFrame);
170 vpControlFrameType getRobotFrame(void) const { return frameRobot; }
172};
173
174#endif
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Class that defines a generic virtual robot.
Definition vpRobot.h:57
int nDof
number of degrees of freedom
Definition vpRobot.h:100
static const double maxTranslationVelocityDefault
Definition vpRobot.h:95
vpMatrix eJe
robot Jacobian expressed in the end-effector frame
Definition vpRobot.h:102
void setVerbose(bool verbose)
Definition vpRobot.h:157
virtual vpRobotStateType getRobotState(void) const
Definition vpRobot.h:142
double * qmin
Definition vpRobot.h:111
vpControlFrameType
Definition vpRobot.h:73
@ END_EFFECTOR_FRAME
Definition vpRobot.h:79
static const double maxRotationVelocityDefault
Definition vpRobot.h:97
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
vpControlFrameType getRobotFrame(void) const
Definition vpRobot.h:170
double * qmax
Definition vpRobot.h:112
int areJointLimitsAvailable
Definition vpRobot.h:110
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
int fJeAvailable
is the robot Jacobian expressed in the robot reference frame available
Definition vpRobot.h:108
vpRobotStateType
Definition vpRobot.h:62
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition vpRobot.h:65
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
@ STATE_ACCELERATION_CONTROL
Initialize the acceleration controller.
Definition vpRobot.h:66
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition vpRobot.h:63
vpMatrix fJe
robot Jacobian expressed in the robot reference frame available
Definition vpRobot.h:106
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
double maxTranslationVelocity
Definition vpRobot.h:94
int eJeAvailable
is the robot Jacobian expressed in the end-effector frame available
Definition vpRobot.h:104
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
double maxRotationVelocity
Definition vpRobot.h:96
bool verbose_
Definition vpRobot.h:114
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.