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Visual Servoing Platform
version 3.2.0
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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>
364 static const double defaultPositioningVelocity;
382 static bool robotAlreadyCreated;
384 double positioningVelocity;
389 double time_prev_getvel;
390 bool first_time_getvel;
395 bool first_time_getdis;
398 #if defined(USE_ATI_DAQ) && defined(VISP_HAVE_COMEDI)
407 void biasForceTorqueSensor();
409 void closeGripper()
const;
411 void disableJoint6Limits()
const;
412 void enableJoint6Limits()
const;
424 double getMaxRotationVelocityJoint6()
const;
430 double getPositioningVelocity(
void)
const;
431 bool getPowerState()
const;
439 double getTime()
const;
453 void move(
const std::string &filename);
460 static bool readPosFile(
const std::string &filename,
vpColVector &q);
461 static bool savePosFile(
const std::string &filename,
const vpColVector &q);
467 void setMaxRotationVelocityJoint6(
double w6_max);
472 const double pos4,
const double pos5,
const double pos6);
474 void setPositioningVelocity(
const double velocity);
483 void unbiasForceTorqueSensor();
486 double maxRotationVelocity_joint6;
Modelisation of the ADEPT Viper 850 robot.
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
Control of Irisa's Viper S850 robot named Viper850.
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
Class that consider the case of a translation vector.
virtual void set_eMc(const vpHomogeneousMatrix &eMc_)
vpCameraParametersProjType
Implementation of column vector and the associated operations.
Implementation of a matrix and operations on matrices.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
void get_cMe(vpHomogeneousMatrix &cMe) const
Implementation of a pose vector and operations on poses.
void setMaxRotationVelocity(const double maxVr)
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
Implementation of an homogeneous matrix and operations on such kind of matrices.
void get_cVe(vpVelocityTwistMatrix &cVe) const
Class that defines a generic virtual robot.
Implementation of a rotation vector as Euler angle minimal representation.
vpToolType
List of possible tools that can be attached to the robot end-effector.