vpRobotTemplate Class Reference

#include <vpRobotTemplate.h>

Inheritance diagram for vpRobotTemplate:

Public Types
enum	vpRobotStateType {   STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_CONTROL,   STATE_FORCE_TORQUE_CONTROL }
enum	vpControlFrameType {   REFERENCE_FRAME, ARTICULAR_FRAME, JOINT_STATE = ARTICULAR_FRAME, END_EFFECTOR_FRAME,   CAMERA_FRAME, TOOL_FRAME = CAMERA_FRAME, MIXT_FRAME }

Public Member Functions
	vpRobotTemplate ()
virtual	~vpRobotTemplate ()
void	get_eJe (vpMatrix &eJe_)
void	get_fJe (vpMatrix &fJe_)
vpHomogeneousMatrix	get_eMc () const
void	getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)
void	getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)
void	set_eMc (vpHomogeneousMatrix &eMc)
void	setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)
void	setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Inherited functionalities from vpRobot
double	getMaxTranslationVelocity (void) const
double	getMaxRotationVelocity (void) const
vpColVector	getPosition (const vpRobot::vpControlFrameType frame)
virtual vpRobotStateType	getRobotState (void) const
void	setMaxRotationVelocity (double maxVr)
void	setMaxTranslationVelocity (double maxVt)
virtual vpRobotStateType	setRobotState (const vpRobot::vpRobotStateType newState)
void	setVerbose (bool verbose)

Static Public Member Functions
Static Public Member Functions inherited from vpRobot
static vpColVector	saturateVelocities (const vpColVector &v_in, const vpColVector &v_max, bool verbose=false)

Protected Member Functions
void	init ()
void	getJointPosition (vpColVector &q)
void	setCartVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &v)
void	setJointVelocity (const vpColVector &qdot)
Protected Member Functions Inherited from vpRobot
vpControlFrameType	setRobotFrame (vpRobot::vpControlFrameType newFrame)
vpControlFrameType	getRobotFrame (void) const

Protected Attributes
vpHomogeneousMatrix	m_eMc
double	maxTranslationVelocity
double	maxRotationVelocity
int	nDof
vpMatrix	eJe
int	eJeAvailable
vpMatrix	fJe
int	fJeAvailable
int	areJointLimitsAvailable
double *	qmin
double *	qmax
bool	verbose_

Static Protected Attributes
static const double	maxTranslationVelocityDefault = 0.2
static const double	maxRotationVelocityDefault = 0.7

Detailed Description

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

Definition at line 60 of file vpRobotTemplate.h.

Member Enumeration Documentation

vpControlFrameType

enum vpRobot::vpControlFrameType

inherited

Robot control frames.

Enumerator
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.

Definition at line 74 of file vpRobot.h.

vpRobotStateType

enum vpRobot::vpRobotStateType

inherited

Robot control states.

Enumerator
STATE_STOP	Stops robot motion especially in velocity and acceleration control.
STATE_VELOCITY_CONTROL	Initialize the velocity controller.
STATE_POSITION_CONTROL	Initialize the position controller.
STATE_ACCELERATION_CONTROL	Initialize the acceleration controller.
STATE_FORCE_TORQUE_CONTROL	Initialize the force/torque controller.

Definition at line 63 of file vpRobot.h.

Constructor & Destructor Documentation

vpRobotTemplate()

vpRobotTemplate::vpRobotTemplate

(

)

Default constructor.

Definition at line 68 of file vpRobotTemplate.cpp.

~vpRobotTemplate()

vpRobotTemplate::~vpRobotTemplate ( )

virtual

Destructor.

Definition at line 77 of file vpRobotTemplate.cpp.

Member Function Documentation

get_eJe()

void vpRobotTemplate::get_eJe ( vpMatrix &  eJe_ )

virtual

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

Parameters

[out]

eJe_

: End-effector frame Jacobian.

Implements vpRobot.

Definition at line 96 of file vpRobotTemplate.cpp.

get_eMc()

vpHomogeneousMatrix vpRobotTemplate::get_eMc ( ) const

inline

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

Definition at line 73 of file vpRobotTemplate.h.

get_fJe()

void vpRobotTemplate::get_fJe ( vpMatrix &  fJe_ )

virtual

Get the robot Jacobian expressed in the robot reference frame.

Parameters

[out]

fJe_

: Base (or reference) frame Jacobian.

Implements vpRobot.

Definition at line 107 of file vpRobotTemplate.cpp.

getDisplacement()

void vpRobotTemplate::getDisplacement ( const vpRobot::vpControlFrameType  frame, vpColVector &  q  )

virtual

Get a displacement.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[out]	q	: Displacement in meter and rad.

Implements vpRobot.

Definition at line 311 of file vpRobotTemplate.cpp.

getJointPosition()

void vpRobotTemplate::getJointPosition ( vpColVector &  q )

protected

Get robot joint positions.

Parameters

[in]

q

: Joint velocities in rad/s.

Definition at line 270 of file vpRobotTemplate.cpp.

getMaxRotationVelocity()

double vpRobot::getMaxRotationVelocity ( void  ) const

inherited

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

Returns

Maximum rotation velocity expressed in rad/s.

Definition at line 272 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().

getMaxTranslationVelocity()

double vpRobot::getMaxTranslationVelocity ( void  ) const

inherited

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

Returns

Maximum translational velocity expressed in m/s.

Definition at line 250 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().

getPosition() [1/2]

vpColVector vpRobot::getPosition ( const vpRobot::vpControlFrameType  frame )

inherited

Return the current robot position in the specified frame.

Definition at line 215 of file vpRobot.cpp.

getPosition() [2/2]

void vpRobotTemplate::getPosition ( const vpRobot::vpControlFrameType  frame, vpColVector &  q  )

virtual

Get robot position.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[out]	q	: Position of the arm.

Implements vpRobot.

Definition at line 282 of file vpRobotTemplate.cpp.

getRobotFrame()

vpControlFrameType vpRobot::getRobotFrame ( void  ) const

inlineprotectedinherited

Definition at line 171 of file vpRobot.h.

Referenced by vpSimulatorAfma6::computeArticularVelocity().

getRobotState()

virtual vpRobotStateType vpRobot::getRobotState ( void  ) const

inlinevirtualinherited

Definition at line 143 of file vpRobot.h.

Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorAfma6::setRobotState(), vpSimulatorAfma6::setVelocity(), and vpSimulatorAfma6::stopMotion().

init()

void vpRobotTemplate::init ( void  )

protectedvirtual

Basic initialization.

Implements vpRobot.

Definition at line 53 of file vpRobotTemplate.cpp.

saturateVelocities()

vpColVector vpRobot::saturateVelocities ( const vpColVector &  v_in, const vpColVector &  v_max, bool  verbose = false  )

staticinherited

Saturate velocities.

Parameters

v_in	: Vector of input velocities to saturate. Translation velocities should be expressed in m/s while rotation velocities in rad/s.
v_max	: Vector of maximal allowed velocities. Maximal translation velocities should be expressed in m/s while maximal rotation velocities in rad/s.
verbose	: Print a message indicating which axis causes the saturation.

Returns

Saturated velocities.

Exceptions

vpRobotException::dimensionError

: If the input vectors have different dimensions.

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>
 
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;
}

Definition at line 162 of file vpRobot.cpp.

set_eMc()

void vpRobotTemplate::set_eMc ( vpHomogeneousMatrix &  eMc )

inline

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

Definition at line 82 of file vpRobotTemplate.h.

setCartVelocity()

void vpRobotTemplate::setCartVelocity ( const vpRobot::vpControlFrameType  frame, const vpColVector &  v  )

protected

Send to the controller a 6-dim velocity twist vector expressed in a Cartesian frame.

Parameters

[in]	frame	: Cartesian control frame (either tool frame or end-effector) in which the velocity v is expressed. Units are m/s for translation and rad/s for rotation velocities.
[in]	v	: 6-dim vector that contains the 6 components of the velocity twist to send to the robot. Units are m/s and rad/s.

Definition at line 130 of file vpRobotTemplate.cpp.

setJointVelocity()

void vpRobotTemplate::setJointVelocity ( const vpColVector &  qdot )

protected

Send a joint velocity to the controller.

Parameters

[in]

qdot

: Joint velocities vector. Units are rad/s for a robot arm.

Definition at line 191 of file vpRobotTemplate.cpp.

setMaxRotationVelocity()

void vpRobot::setMaxRotationVelocity ( double  w_max )

inherited

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

Parameters

w_max

: Maximum rotational velocity expressed in rad/s.

Examples

servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, testFeatureSegment.cpp, testFrankaJointVelocityLimits.cpp, and testRobotFlirPtu.cpp.

Definition at line 259 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

setMaxTranslationVelocity()

void vpRobot::setMaxTranslationVelocity ( double  v_max )

inherited

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

Parameters

v_max

: Maximum translation velocity expressed in m/s.

Examples

servoMomentPoints.cpp, servoSimu4Points.cpp, servoSimuSphere.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, and testFeatureSegment.cpp.

Definition at line 238 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setPosition().

setPosition()

void vpRobotTemplate::setPosition ( const vpRobot::vpControlFrameType  frame, const vpColVector &  q  )

virtual

Set a position to reach.

Parameters

[in]	frame	: Considered cartesian frame or joint state.
[in]	q	: Position to reach.

Implements vpRobot.

Definition at line 298 of file vpRobotTemplate.cpp.

setRobotFrame()

vpRobot::vpControlFrameType vpRobot::setRobotFrame ( vpRobot::vpControlFrameType  newFrame )

protectedinherited

Definition at line 206 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::init(), and vpSimulatorAfma6::setVelocity().

setRobotState()

vpRobot::vpRobotStateType vpRobot::setRobotState ( const vpRobot::vpRobotStateType  newState )

virtualinherited

Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpRobotFlirPtu, vpRobotPtu46, vpSimulatorViper850, vpSimulatorAfma6, and vpRobotBiclops.

Examples

frankaMoveToPosition.cpp, frankaSavePosition.cpp, moveAfma4.cpp, moveBiclops.cpp, movePtu46.cpp, photometricVisualServoing.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, testFrankaCartForceTorque-2.cpp, testFrankaCartForceTorque.cpp, testFrankaCartVelocity-2.cpp, testFrankaCartVelocity-3.cpp, testFrankaCartVelocity.cpp, testFrankaJointPosition.cpp, testFrankaJointTorque.cpp, testFrankaJointVelocity-2.cpp, testFrankaJointVelocity-3.cpp, testFrankaJointVelocity.cpp, testFrankaJointVelocityLimits.cpp, testRobotFlirPtu.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testVirtuoseAfma6.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 200 of file vpRobot.cpp.

Referenced by vpSimulatorAfma6::setRobotState(), and vpSimulatorAfma6::stopMotion().

setVelocity()

void vpRobotTemplate::setVelocity ( const vpRobot::vpControlFrameType  frame, const vpColVector &  vel  )

virtual

Send to the controller a velocity in a given frame.

Parameters

[in]	frame	: Control frame in which the velocity vel is expressed. Velocities could be joint velocities, or cartesian velocities. Units are m/s for translation and rad/s for rotation velocities.
[in]	vel	: Vector that contains the velocity to apply to the robot.

Implements vpRobot.

Definition at line 209 of file vpRobotTemplate.cpp.

setVerbose()

void vpRobot::setVerbose ( bool  verbose )

inlineinherited

Examples

tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, and tutorial-ibvs-4pts-wireframe-robot-viper.cpp.

Definition at line 158 of file vpRobot.h.

Member Data Documentation

areJointLimitsAvailable

int vpRobot::areJointLimitsAvailable

protectedinherited

Definition at line 111 of file vpRobot.h.

eJe

vpMatrix vpRobot::eJe

protectedinherited

robot Jacobian expressed in the end-effector frame

Definition at line 103 of file vpRobot.h.

eJeAvailable

int vpRobot::eJeAvailable

protectedinherited

is the robot Jacobian expressed in the end-effector frame available

Definition at line 105 of file vpRobot.h.

fJe

vpMatrix vpRobot::fJe

protectedinherited

robot Jacobian expressed in the robot reference frame available

Definition at line 107 of file vpRobot.h.

fJeAvailable

int vpRobot::fJeAvailable

protectedinherited

is the robot Jacobian expressed in the robot reference frame available

Definition at line 109 of file vpRobot.h.

m_eMc

vpHomogeneousMatrix vpRobotTemplate::m_eMc

protected

Constant transformation between end-effector and tool (or camera) frame.

Definition at line 93 of file vpRobotTemplate.h.

maxRotationVelocity

double vpRobot::maxRotationVelocity

protectedinherited

Definition at line 97 of file vpRobot.h.

maxRotationVelocityDefault

const double vpRobot::maxRotationVelocityDefault = 0.7

staticprotectedinherited

Definition at line 98 of file vpRobot.h.

maxTranslationVelocity

double vpRobot::maxTranslationVelocity

protectedinherited

Definition at line 95 of file vpRobot.h.

maxTranslationVelocityDefault

const double vpRobot::maxTranslationVelocityDefault = 0.2

staticprotectedinherited

Definition at line 96 of file vpRobot.h.

nDof

int vpRobot::nDof

protectedinherited

number of degrees of freedom

Definition at line 101 of file vpRobot.h.

qmax

double* vpRobot::qmax

protectedinherited

Definition at line 113 of file vpRobot.h.

qmin

double* vpRobot::qmin

protectedinherited

Definition at line 112 of file vpRobot.h.

verbose_

bool vpRobot::verbose_

protectedinherited

Definition at line 115 of file vpRobot.h.