40 #ifndef vpRobotViper850_h
41 #define vpRobotViper850_h
43 #include <visp3/core/vpConfig.h>
45 #ifdef VISP_HAVE_VIPER850
50 #include <visp3/core/vpColVector.h>
51 #include <visp3/core/vpDebug.h>
52 #include <visp3/robot/vpRobot.h>
53 #include <visp3/robot/vpViper850.h>
57 #include "irisa_Viper850.h"
66 #include <visp3/sensor/vpForceTorqueAtiSensor.h>
378 static bool robotAlreadyCreated;
380 double positioningVelocity;
385 double time_prev_getvel;
386 bool first_time_getvel;
391 bool first_time_getdis;
394 #if defined(USE_ATI_DAQ) && defined(VISP_HAVE_COMEDI)
403 void biasForceTorqueSensor();
405 void closeGripper()
const;
407 void disableJoint6Limits()
const;
408 void enableJoint6Limits()
const;
420 double getMaxRotationVelocityJoint6()
const;
426 double getPositioningVelocity(
void)
const;
427 bool getPowerState()
const;
435 double getTime()
const;
449 void move(
const std::string &filename);
456 static bool readPosFile(
const std::string &filename,
vpColVector &q);
457 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
463 void setMaxRotationVelocityJoint6(
double w6_max);
468 double pos4,
double pos5,
double pos6);
470 void setPositioningVelocity(
double velocity);
479 void unbiasForceTorqueSensor();
482 double maxRotationVelocity_joint6;
vpCameraParametersProjType
@ perspectiveProjWithoutDistortion
Implementation of column vector and the associated operations.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Implementation of a pose vector and operations on poses.
@ AUTO
Automatic control mode (default).
static const double defaultPositioningVelocity
vpControlModeType getControlMode() const
Class that defines a generic virtual robot.
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
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
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
void setMaxRotationVelocity(double maxVr)
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
Implementation of a rotation vector as Euler angle minimal representation.
Class that consider the case of a translation vector.
Modelisation of the ADEPT Viper 850 robot.
vpToolType
List of possible tools that can be attached to the robot end-effector.
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
void get_cMe(vpHomogeneousMatrix &cMe) const
void get_cVe(vpVelocityTwistMatrix &cVe) const