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Visual Servoing Platform
version 3.2.0
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#include <vpRobot.h>
Public Types | |
enum | vpRobotStateType { STATE_STOP, STATE_VELOCITY_CONTROL, STATE_POSITION_CONTROL, STATE_ACCELERATION_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 | |
vpRobot (void) | |
vpRobot (const vpRobot &robot) | |
virtual | ~vpRobot () |
Inherited functionalities from vpRobot | |
virtual void | get_eJe (vpMatrix &_eJe)=0 |
virtual void | get_fJe (vpMatrix &_fJe)=0 |
virtual void | getDisplacement (const vpRobot::vpControlFrameType frame, vpColVector &q)=0 |
double | getMaxTranslationVelocity (void) const |
double | getMaxRotationVelocity (void) const |
virtual void | getPosition (const vpRobot::vpControlFrameType frame, vpColVector &q)=0 |
vpColVector | getPosition (const vpRobot::vpControlFrameType frame) |
virtual vpRobotStateType | getRobotState (void) const |
virtual void | init ()=0 |
vpRobot & | operator= (const vpRobot &robot) |
void | setMaxRotationVelocity (const double maxVr) |
void | setMaxTranslationVelocity (const double maxVt) |
virtual void | setPosition (const vpRobot::vpControlFrameType frame, const vpColVector &q)=0 |
virtual vpRobotStateType | setRobotState (const vpRobot::vpRobotStateType newState) |
virtual void | setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0 |
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 | |
Protected Member Functions Inherited from vpRobot | |
vpControlFrameType | setRobotFrame (vpRobot::vpControlFrameType newFrame) |
vpControlFrameType | getRobotFrame (void) const |
Protected Attributes | |
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 generic virtual robot.
group_robot_real_arm group_robot_real_template
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. |
vpRobot::vpRobot | ( | void | ) |
Definition at line 52 of file vpRobot.cpp.
vpRobot::vpRobot | ( | const vpRobot & | robot | ) |
Definition at line 60 of file vpRobot.cpp.
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virtual |
Destructor that free allocated memory.
Definition at line 72 of file vpRobot.cpp.
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pure virtual |
Get the robot Jacobian expressed in the end-effector frame.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotPioneer, vpRobotAfma6, vpRobotPtu46, and vpRobotTemplate.
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pure virtual |
Get the robot Jacobian expressed in the robot reference (or world) frame.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpSimulatorViper850, vpRobotAfma4, vpSimulatorAfma6, vpRobotAfma6, vpRobotPtu46, and vpRobotTemplate.
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pure virtual |
Get a displacement (frame as to ve specified) between two successive position control.
Implemented in vpRobotPtu46, vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpRobotTemplate, vpSimulatorViper850, and vpSimulatorAfma6.
double vpRobot::getMaxRotationVelocity | ( | void | ) | const |
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().
double vpRobot::getMaxTranslationVelocity | ( | void | ) | const |
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().
vpColVector vpRobot::getPosition | ( | const vpRobot::vpControlFrameType | frame | ) |
Return the current robot position in the specified frame.
Definition at line 215 of file vpRobot.cpp.
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pure virtual |
Get the robot position (frame has to be specified).
Implemented in vpSimulatorViper850, vpSimulatorAfma6, vpSimulatorPioneerPan, vpSimulatorPioneer, vpRobotCamera, vpSimulatorCamera, vpRobotPtu46, vpRobotTemplate, vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, and vpRobotAfma4.
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inlineprotected |
Definition at line 171 of file vpRobot.h.
Referenced by vpSimulatorAfma6::computeArticularVelocity().
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inlinevirtual |
Definition at line 143 of file vpRobot.h.
Referenced by vpSimulatorAfma6::setPosition(), vpSimulatorAfma6::setRobotState(), vpSimulatorAfma6::setVelocity(), and vpSimulatorAfma6::stopMotion().
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pure virtual |
Copy operator.
Definition at line 85 of file vpRobot.cpp.
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static |
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.
void vpRobot::setMaxRotationVelocity | ( | const double | w_max | ) |
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().
void vpRobot::setMaxTranslationVelocity | ( | const double | v_max | ) |
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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pure virtual |
Set a displacement (frame has to be specified) in position control.
Implemented in vpSimulatorViper850, vpSimulatorAfma6, vpRobotPtu46, vpRobotTemplate, vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, and vpRobotAfma4.
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Definition at line 206 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::init(), and vpSimulatorAfma6::setVelocity().
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Reimplemented in vpRobotViper850, vpRobotViper650, vpRobotFranka, vpRobotAfma6, vpRobotAfma4, vpRobotPtu46, vpSimulatorViper850, and vpSimulatorAfma6.
Definition at line 200 of file vpRobot.cpp.
Referenced by vpSimulatorAfma6::setRobotState(), and vpSimulatorAfma6::stopMotion().
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pure virtual |
Set the velocity (frame has to be specified) that will be applied to the velocity controller.
Implemented in vpRobotViper850, vpRobotViper650, vpRobotAfma6, vpRobotAfma4, vpSimulatorViper850, vpSimulatorAfma6, vpRobotFranka, vpSimulatorPioneerPan, vpRobotPioneer, vpSimulatorPioneer, vpSimulatorCamera, vpRobotTemplate, vpRobotCamera, and vpRobotPtu46.
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