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Visual Servoing Platform
version 3.3.0
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#include <vpRobotTemplate.h>
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 |
Class that defines a robot just to show which function you must implement.
Definition at line 60 of file vpRobotTemplate.h.
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inherited |
Robot control frames.
Enumerator | |
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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. |
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inherited |
Robot control states.
vpRobotTemplate::vpRobotTemplate | ( | ) |
Default constructor.
Definition at line 68 of file vpRobotTemplate.cpp.
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virtual |
Destructor.
Definition at line 77 of file vpRobotTemplate.cpp.
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virtual |
Get the robot Jacobian expressed in the end-effector frame.
[out] | eJe_ | : End-effector frame Jacobian. |
Implements vpRobot.
Definition at line 96 of file vpRobotTemplate.cpp.
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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.
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virtual |
Get the robot Jacobian expressed in the robot reference frame.
[out] | fJe_ | : Base (or reference) frame Jacobian. |
Implements vpRobot.
Definition at line 107 of file vpRobotTemplate.cpp.
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virtual |
Get a displacement.
[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.
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protected |
Get robot joint positions.
[in] | q | : Joint velocities in rad/s. |
Definition at line 270 of file vpRobotTemplate.cpp.
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inherited |
Get the maximal rotation velocity that can be sent to the robot during a velocity control.
Definition at line 272 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::computeArticularVelocity(), vpSimulatorAfma6::findHighestPositioningSpeed(), vpSimulatorViper850::findHighestPositioningSpeed(), vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().
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inherited |
Get the maximal translation velocity that can be sent to the robot during a velocity control.
Definition at line 250 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition(), and vpSimulatorAfma6::setVelocity().
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inherited |
Return the current robot position in the specified frame.
Definition at line 215 of file vpRobot.cpp.
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virtual |
Get robot position.
[in] | frame | : Considered cartesian frame or joint state. |
[out] | q | : Position of the arm. |
Implements vpRobot.
Definition at line 282 of file vpRobotTemplate.cpp.
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inlineprotectedinherited |
Definition at line 171 of file vpRobot.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity().
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inlinevirtualinherited |
Definition at line 143 of file vpRobot.h.
Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorAfma6::setRobotState(), vpSimulatorAfma6::setVelocity(), and vpSimulatorAfma6::stopMotion().
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protectedvirtual |
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staticinherited |
Saturate velocities.
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. |
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.
Definition at line 162 of file vpRobot.cpp.
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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.
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protected |
Send to the controller a 6-dim velocity twist vector expressed in a Cartesian frame.
[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.
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protected |
Send a joint velocity to the controller.
[in] | qdot | : Joint velocities vector. Units are rad/s for a robot arm. |
Definition at line 191 of file vpRobotTemplate.cpp.
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inherited |
Set the maximal rotation velocity that can be sent to the robot during a velocity control.
w_max | : Maximum rotational velocity expressed in rad/s. |
Definition at line 259 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition().
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inherited |
Set the maximal translation velocity that can be sent to the robot during a velocity control.
v_max | : Maximum translation velocity expressed in m/s. |
Definition at line 238 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setPosition().
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virtual |
Set a position to reach.
[in] | frame | : Considered cartesian frame or joint state. |
[in] | q | : Position to reach. |
Implements vpRobot.
Definition at line 298 of file vpRobotTemplate.cpp.
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protectedinherited |
Definition at line 206 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::init(), and vpSimulatorAfma6::setVelocity().
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virtualinherited |
Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpRobotFlirPtu, vpRobotPtu46, vpSimulatorViper850, vpSimulatorAfma6, and vpRobotBiclops.
Definition at line 200 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setRobotState(), and vpSimulatorAfma6::stopMotion().
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virtual |
Send to the controller a velocity in a given frame.
[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.
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protectedinherited |
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Constant transformation between end-effector and tool (or camera) frame.
Definition at line 93 of file vpRobotTemplate.h.
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